Uncalibrated visual servoing using real-time velocity optimization
US9205564B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 18, 2014 |
| Grant date | Dec 8, 2015 |
| Priority date | — |
| Expiry date | Dec 18, 2034 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/47
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A robotic control system and method include a camera having an optical view and a robot having an end-effector and one or more joints for maneuvering end-effector. A digital video frame is acquired illustrating an image as optically viewed by the camera, and a visual servoing is executed for controlling a pose of end-effector relative to an image feature within the digital video frame. The visual servoing involves an identification of a tracking vector within an image coordinate system of the digital video frame extending from a tracking point to a target point associated with the image feature, a mapping of the tracking vector within a configuration space constructed from a robotic coordinate system associated with the end-effector, and a derivation of a pose of the end-effector within the robotic coordinate system from the mapping of the tracking vector within the configuration space.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.