论文信息 - Robot Visual Servo through Trajectory Estimation of a Moving Object Using Kalman Filter

Robot Visual Servo through Trajectory Estimation of a Moving Object Using Kalman Filter

In this paper, a robot visual servo control algorithm is proposed by combining the conventional image based robot visual servoing algorithm with a trajectory estimation algorithm of a moving object using Kalman filter. The erroneous image information of a moving object due to the imprecise camera characteristics is compensated by applying Kalman filter to the process model of a moving object. The robot visual servo control algorithm is simulated, implemented and discussed with a Samsung FARA AT-2 robot and a MV50 Camera for its effectiveness, in both cases of with/without a trajectory estimation algorithm of a moving object using Kalman filter.

Hee-Jun Kang | Min-Soo Kim | Ho Quoc Phuong Nguyen | Ji-Hoon Koh

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