1. Eye-to-Hand Approach on Eye-in-Hand Configuration With Real-Time Visual Servoing
IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 10, NO. 4, AUGUST 2005
Abdul Muis, Student Member, IEEE, and Kouhei Ohnishi, Fellow, IEEE
專題報告

2. Outline Introduction System Structure Real Time Vision
Visual Servoing Control Design
Experiment
Conclusion

3. Introduction(1/2)
Eye-in-hand and eye-to-hand configuration

4. Introduction(2/2)
Proposed camera configuration

5. System Structure A. Camera Model B. Robot Model
C. Real-Time Data Communication
User Datagram Protocol

6. Real Time Vision
A. Fixed-Pattern Noise Removal
P(I) = A × log(I) + B

7. Real Time Vision
B. Image Processing
C. Pattern Design

8. Visual Servoing Control Design
Visual control system structure

9. Experiment
REAL-TIME VISION PERFORMANCE (SOFTWARE PART)

10. Experiment
Gripper motion in 3-D space.

11. Experiment
Gripper motion in transient time.

12. Conclusion Solve the drawbacks in eye-in-hand and eye-to-hand
Real-time vision
Further work