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العنوان
Optimising Visual Servoing to Avoid
Robot Arm singularity /
المؤلف
Shenouda, Michael Nasr.
هيئة الاعداد
باحث / Michael Nasr Shenouda
مشرف / Farid A. Tolba
مشرف / Magdi AbdelHameed
مناقش / Mohamed Fahmy Tolba
تاريخ النشر
2016.
عدد الصفحات
154 P. :
اللغة
الإنجليزية
الدرجة
ماجستير
التخصص
الهندسة الميكانيكية
تاريخ الإجازة
1/1/2016
مكان الإجازة
جامعة عين شمس - كلية الهندسة - قسم الميكانيكا(الميكاترون)
الفهرس
Only 14 pages are availabe for public view

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from 154

Abstract

Among all sensors, vision is the most complementary one with respect to the sensory information
it provides to be included in the control loop since visual sensors are powerful
means for a robot to perceive its environment. In particular, the use of visual feedback
from sensor camera, when used in a correct manner, guarantees accurate positioning,
robustness to calibration uncertainties, and reactivity to environmental changes.
Visual servoing is a viable method for robotic control based on the utilization of visual
information extracted from images to close the robot control loop. Visual information
obtained from the image processing can be used to extracting 2D features. It can also
be used to estimating pose parameters by employing a pose estimation algorithm from
computer vision. The estimated pose is transformed into the 3D features. These 2D
and/or 3D features are then used in the control scheme.
Usually, in an open control scheme it is not that important to study arm robot singularity
as the path can be adjusted as needed but in visual servoing application which is
considered a closed control scheme, it is very important to study arm singularities to be
able to avoid them or control the arm around these positions. The purpose is to optimize
the behavior of the visual servoing control system to avoid any singular con guration