Artificial Intelligence for Scientific and High Performance Computing at Sandia.
Abstract not provided.
Feddema, John T.↗
Engineering topics
Feddema, John T.
Publications and source records attributed to Feddema, John T..
Weighted feature selection criteria for visual servoing of a telerobot
Because of the continually changing environment of a space station, visual feedback is a vital element of a telerobotic system. A real time visual servoing system would allow a telerobot to track and manipulate randomly moving objects. Methodologies for the automatic selection of image features to be used to visually control the relative position between an eye-in-hand telerobot and a known object are devised. A weighted criteria function with both image recognition and control components is used to select the combination of image features which provides the best control. Simulation and experimental results of a PUMA robot arm visually tracking a randomly moving carburetor gasket with a visual update time of 70 milliseconds are discussed.
Feddema, John T.↗