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Article: Straight line path-planning in visual servoing

TitleStraight line path-planning in visual servoing
Authors
Chesi, GPrattichizzo, DVicino, A
KeywordsPath-planning
Point correspondences
Straight line
Visual servoing
Issue Date2007
PublisherA S M E International. The Journal's web site is located at http://ojps.aip.org/ASMEJournals/DynamicSys/
Citation
Journal Of Dynamic Systems, Measurement And Control, Transactions Of The Asme, 2007, v. 129 n. 4, p. 541-543 How to Cite?
DOI: http://dx.doi.org/10.1115/1.2745882
AbstractThis paper deals with visual servoing for 6-degree-of-freedom robot manipulators, and considers the problem of establishing whether and how it is possible to reach the desired location while keeping all features in the field of view and following a straight line in the Euclidean space. A path-planning technique based on a parametrization of the camera path through polynomials is proposed, which overcomes existing methods dealing with this problem. The generated image trajectory can be tracked by using an image-based visual servoing controller. Copyright © 2007 by ASME.
Persistent Identifierhttp://hdl.handle.net/10722/73674
ISSN
0022-0434
2023 Impact Factor: 1.7
2023 SCImago Journal Rankings: 0.592
ISI Accession Number ID
WOS:000248139600018
References
References in Scopus

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_HK
dc.contributor.authorPrattichizzo, Den_HK
dc.contributor.authorVicino, Aen_HK
dc.date.accessioned2010-09-06T06:53:40Z-
dc.date.available2010-09-06T06:53:40Z-
dc.date.issued2007en_HK
dc.identifier.citationJournal Of Dynamic Systems, Measurement And Control, Transactions Of The Asme, 2007, v. 129 n. 4, p. 541-543en_HK
dc.identifier.issn0022-0434en_HK
dc.identifier.urihttp://hdl.handle.net/10722/73674-
dc.description.abstractThis paper deals with visual servoing for 6-degree-of-freedom robot manipulators, and considers the problem of establishing whether and how it is possible to reach the desired location while keeping all features in the field of view and following a straight line in the Euclidean space. A path-planning technique based on a parametrization of the camera path through polynomials is proposed, which overcomes existing methods dealing with this problem. The generated image trajectory can be tracked by using an image-based visual servoing controller. Copyright © 2007 by ASME.en_HK
dc.languageengen_HK
dc.publisherA S M E International. The Journal's web site is located at http://ojps.aip.org/ASMEJournals/DynamicSys/en_HK
dc.relation.ispartofJournal of Dynamic Systems, Measurement and Control, Transactions of the ASMEen_HK
dc.subjectPath-planningen_HK
dc.subjectPoint correspondencesen_HK
dc.subjectStraight lineen_HK
dc.subjectVisual servoingen_HK
dc.titleStraight line path-planning in visual servoingen_HK
dc.typeArticleen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=0022-0434&volume=129&spage=541&epage=543&date=2007&atitle=Straight+line+path-planning+in+visual+servoingen_HK
dc.identifier.emailChesi, G:chesi@eee.hku.hken_HK
dc.identifier.authorityChesi, G=rp00100en_HK
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1115/1.2745882en_HK
dc.identifier.scopuseid_2-s2.0-34547766459en_HK
dc.identifier.hkuros133705en_HK
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-34547766459&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume129en_HK
dc.identifier.issue4en_HK
dc.identifier.spage541en_HK
dc.identifier.epage543en_HK
dc.identifier.isiWOS:000248139600018-
dc.publisher.placeUnited Statesen_HK
dc.identifier.scopusauthoridChesi, G=7006328614en_HK
dc.identifier.scopusauthoridPrattichizzo, D=7004048807en_HK
dc.identifier.scopusauthoridVicino, A=7006250298en_HK
dc.identifier.issnl0022-0434-

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