The Study of 3D Reaching Tasks on Visual Servoing Using Quaternion

Autor:	Junqi Luo, Haofeng Deng, Liucun Zhu, Mingyou Chen
Rok vydání:	2021
Předmět:	Computer science business.industry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION General Engineering Computer vision Artificial intelligence Visual servoing Quaternion business
Zdroj:	Journal of Engineering Research.
ISSN:	2307-1885 2307-1877
Popis:	The image-based monocular visual servoing is difficult to realize the grasping task on three-dimension. This study presented a method of quaternion on 3D reaching tasks of visual servoing. This method used a camera and a laser scanner to acquire the information of the images and the depth. Then the parameters of Jacobian matrix could be determined by the method of the quaternion. A particular constraint mechanism was also proposed to optimize the reaching trajectory of the robot. The simulation results demonstrated our proposed method could implement the 3D reaching tasks successfully and had a significant performance improvement compared to conventional methods.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::211860e9a73463de3a6db0dae61ca9d0 https://doi.org/10.36909/jer.12031 Zobrazit plný text záznamu