The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?
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We use MATLAB and some Toolbox functions to create a robot controller that moves a camera so the image matches what we want it to look like. We call this an image-based visual servoing system.
Building a highly accurate robot is not trivial yet we can perform fine positioning tasks like threading a needle using hand-eye coordination. For a robot we call this visual servoing.
A critical part of a visual servoing system is establishing correspondence between points in the scene observed by the camera, and points in our desired image of the scene.
Let’s recap the important points from the topics we have covered in our discussion of optical flow and visual servoing.
Visual servoing is concerned with the motion of points in the world. How can we reliably detect such points using computer vision techniques.
It is common to think about an assembly task being specified in terms of coordinates in the 3D world. An alternative approach is to consider the task in terms of the relative position of objects in one or more views of the task — visual servoing.
An image is a two dimensional projection of a three dimensional world. The big problem with this projection is that big distant objects appear the same size as small close objects. For people, and robots, it’s important to distinguish these different situations. Let’s look at how humans and robots can determine the scale of objects […]
All animals have a variety of senses that help them in everyday life. We’ll talk about interesting non-human senses that some animals possess and the often overlooked human sense of balance which is based on accelerometers and gyroscopes in our vestibular system.
So far we have worked out the torques on a robot’s joints based on joint position, velocity and acceleration. For simulation we want the opposite, to know its motion given the torques applied to the joints. This is called the forward dynamics problem.