| contributor author | Graziano Chesi | |
| contributor author | Domenico Prattichizzo | |
| contributor author | Antonio Vicino | |
| date accessioned | 2017-05-09T00:23:09Z | |
| date available | 2017-05-09T00:23:09Z | |
| date copyright | July, 2007 | |
| date issued | 2007 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26397#541_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/135447 | |
| description abstract | This 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Straight Line Path-Planning in Visual Servoing | |
| type | Journal Paper | |
| journal volume | 129 | |
| journal issue | 4 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2745882 | |
| journal fristpage | 541 | |
| journal lastpage | 543 | |
| identifier eissn | 1528-9028 | |
| keywords | Trajectories (Physics) | |
| keywords | Path planning | |
| keywords | Polynomials | |
| keywords | Control equipment AND Manipulators | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2007:;volume( 129 ):;issue: 004 | |
| contenttype | Fulltext | |