Hand-eye coordination with an active camera head
Magued Bishay, Richard Alan Peters, Don Mitchell Wilkes, K. Kawamura · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1997
Hand-eye coordination is the coupling between vision and manipulation. Visual servoing is the term applied to hand-eye coordination in robots. In recent years, research has demonstrated that active vision -- active control of camera position and camera parameters -- facilitates a robot's interaction with the world. One aspect of active vision is centering an object in an image. This is known as gaze stabilization or fixation. This paper presents a new algorithm that applies target fixation to image-based visual servoing. This algorithm, called fixation point servoing (FPS), uses target fixation to eliminate the need for Jacobian computation Additionally, FPS reburies only the rotation relationship between the camera head and the gripper frames and does not require accurate tracking of the gripper. FPS was tested on a robotics system called ISAC and experimental results are shown. FPS was also compared to a classical Jacobian-based technique using simulations of both algorithms.