| Title: | Robot hand visual tracking using an adaptive fuzzy logic controller |
| Authors: | Peréz, Carlos Reinoso, Oscar Vicente, Asunción M. |
| Citation: | WSCG '2004: Posters: The 12-th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision, 2.-6. February 2004, Plzen, p. 129-132. |
| Issue Date: | 2004 |
| Publisher: | UNION Agency |
| Document type: | konferenční příspěvek conferenceObject |
| URI: | wscg.zcu.cz/wscg2004/Papers_2004_Poster/M31.pdf http://hdl.handle.net/11025/957 |
| ISBN: | 80-903100-6-0 |
| Keywords: | robotická ruka;vizuální sledování;počítačové vidění;fuzzy řízení;aplikace |
| Keywords in different language: | robot hand;visual tracking;computer vision;fuzzy control;applications |
| Abstract: | This paper presents an algorithm to track an industrial robot hand during its movement. Based on acquired image and knowing the robot hand model, the pose is obtained. This information is used to move a pan-tilt camera and keep the robot hand centered in the image every time using an adaptive fuzzy logic controlled. This control law is used combined with a position prediction technique to improve the system behavior. Vision based systems have a lot of empirically adjustable parameters for a good working. With the algorithm proposed in this paper, the adjustable parameters are minimum, so the system robustness is increased. |
| Rights: | © UNION Agency |
| Appears in Collections: | WSCG '2004: Posters |
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