Table of Contents
Robotics, Volume 7, Issue 2 (June 2018)
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Cover Story (view full-size image) The use of four characteristic points in total for a six-DOF robot manipulator visual control [...] Read more. The use of four characteristic points in total for a six-DOF robot manipulator visual control system is a commonly used strategy. From the projection of these four points in the image frame, a set of six features can control all six DOFs of the robot manipulator. The parallelogram model is chosen so as to capture any interesting features for use in the six-DOF imaged-based visual servo control. The positioning and alignment task employs only simple parallelism invariance and decoupled proportional control laws to position and align the camera with a target object. An accurate absolute depth can be obtained from its area in the image space. Thus, the pick-and-place task for 3D objects can be done with only one eye-in-hand camera. The main advantage of this approach is the simplicity of implementing the visual servo control without using the interaction matrix as required by the traditional method. View this paper.