Abstract
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. © 2009 Springer Berlin Heidelberg.
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CITATION STYLE
Kim, M. S., Koh, J. H., Nguyen, H. Q. P., & Kang, H. J. (2009). Robot visual servo through trajectory estimation of a moving object using kalman filter. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 5754 LNCS, pp. 1122–1130). https://doi.org/10.1007/978-3-642-04070-2_118
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