En esta tesis se aborda el problema del control de robots manipuladores mediante el empleo de sensores visuales como elementos de realimentación. Se presentan las distintas técnicas usadas habitualmente para tratar este problema y se realizan desarrollos e implementaciones de dos de estas técnicas, en concreto de aquellas que presentan un mayor interés.
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November 27, 2014 (v1)PublicationUploaded on: March 27, 2023
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December 13, 2021 (v1)Publication
The displacement of a calibrated camera between two images of a planar object can be estimated by decomposing a homography matrix. The aim of this document is to propose a new method for solving the homography decomposition problem. This new method provides analytical expressions for the solutions of the problem, instead of the...
Uploaded on: December 4, 2022 -
January 25, 2021 (v1)Publication
This article presents an algorithm for tracking an object using a robot provided with a camera in the final effector. Simple methods are studied for estimating the optical flow based on accumulated differences which permit tracking in real time. The study is first realized by simulation and then the best results are tried experimentally.
Uploaded on: March 26, 2023