Authors: T.I. James Tsay, M.K. Lee
Addresses: Department of Mechanical Engineering, National Cheng Kung University, Tainan 70101, Taiwan. ' Department of Mechanical Engineering, National Cheng Kung University, Tainan 70101, Taiwan
Abstract: This paper proposes an Image-Based Visual Servo control (IBVS) method that integrates the kinematics of both a robotic binocular head and cameras with the dynamics of the binocular head and uses a fuzzy sliding mode control algorithm. The proposed method utilises ultrasonic sensors to supply distance information to the visual servo system. In image processing, an attention window is estimated to mark the 3D moving object: the size of the window can increase or decrease according to the size of the object. Finally, two experiments based on the multiple-sensor binocular head are performed to verify the theoretical results.
Keywords: IBVS; image-based visual servo control; ultrasonic sensors; attention window; fuzzy control; sliding mode control; binocular tracking; robot vision; robot kinematics.
International Journal of Computer Applications in Technology, 2009 Vol.36 No.2, pp.134 - 143
Published online: 13 Aug 2009 *Full-text access for editors Access for subscribers Purchase this article Comment on this article