The study of 3D reaching tasks on visual serving using quaternion
Joint Authors
Zhu, Liucun
Chen, Mingyou
Luo, Junqi
Deng, Haofeng
Source
Journal of Engineering Research
Issue
Vol. 11, Issue 1 B (31 Mar. 2023), pp.266-279, 14 p.
Publisher
Kuwait University Academic Publication Council
Publication Date
2023-03-31
Country of Publication
Kuwait
No. of Pages
14
Main Subjects
Abstract EN
The image-based monocular visual servoing is difficult to realize the grasping task on three-dimension.
This study presented a method of quaternion on 3D reaching tasks of visual servoing.
This method used a camera and a laser scanner to acquire the information of the images and the depth.
Then the parameters of Jacobian matrix could be determined by the method of the quaternion.
A particular constraint mechanism was also proposed to optimize the reaching trajectory of the robot.
The simulation results demonstrated our proposed method could implement the 3D reaching tasks successfully and had a significant performance improvement compared to conventional methods.
American Psychological Association (APA)
Zhu, Liucun& Luo, Junqi& Chen, Mingyou& Deng, Haofeng. 2023. The study of 3D reaching tasks on visual serving using quaternion. Journal of Engineering Research،Vol. 11, no. 1 B, pp.266-279.
https://search.emarefa.net/detail/BIM-1495475
Modern Language Association (MLA)
Zhu, Liucun…[et al.]. The study of 3D reaching tasks on visual serving using quaternion. Journal of Engineering Research Vol. 11, no. 1 B (Mar. 2023), pp.266-279.
https://search.emarefa.net/detail/BIM-1495475
American Medical Association (AMA)
Zhu, Liucun& Luo, Junqi& Chen, Mingyou& Deng, Haofeng. The study of 3D reaching tasks on visual serving using quaternion. Journal of Engineering Research. 2023. Vol. 11, no. 1 B, pp.266-279.
https://search.emarefa.net/detail/BIM-1495475
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 278-279
Record ID
BIM-1495475