Abstract
In order to draw pictures on a plane, it is important for a robot arm to know the pose of the end-effecter relative to the world frame which is settled on the workplace. Visual servoing is frequently used in the hand-eye configuration of robot arms. However, 3D pose is preferred for a drawing robot. It is not only required to obtain the three dimensional position of the end effecter so that the pen can touch the paper without drilling a hole, but also required to get the direction so that the pen is always perpendicular to the drawing plane.
| Original language | English |
|---|---|
| Title of host publication | 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 |
| Pages | 1325-1331 |
| Number of pages | 7 |
| DOIs | |
| Publication status | Published - 2013 |
| Event | 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan Duration: 4 Aug 2013 → 7 Aug 2013 |
Publication series
| Name | 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 |
|---|
Conference
| Conference | 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 |
|---|---|
| Country/Territory | Japan |
| City | Takamastu |
| Period | 4/08/13 → 7/08/13 |
Keywords
- Hand-eye vision
- KALMAN filter
- Perspective-n-point
- Pose estimation
Fingerprint
Dive into the research topics of 'Hand-eye 3D pose estimation for a drawing robot'. Together they form a unique fingerprint.Cite this
Sultan, M. S., Chen, X., Ma, G., Xue, J., Ni, W., Zhang, T., & Zhang, W. (2013). Hand-eye 3D pose estimation for a drawing robot. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 (pp. 1325-1331). Article 6618105 (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013). https://doi.org/10.1109/ICMA.2013.6618105