Robotics 2 - Lecture 21 (15 May 2020), held by Prof. Vendittelli скачать в хорошем качестве

Robotics 2 - Lecture 21 (15 May 2020), held by Prof. Vendittelli

0:00:00 Visual servoing 0:03:05 Video: Some application 0:08:40 Image processing 0:14:00 Configuration of a vision system 0:17:45 Camera positioning 0:19:10 Video: Vision for assembly 0:21:20 Indirect/external visual servoing 0:25:55 Direct/internal visual servoing 0:27:55 Classification of visual servoing schemes 0:31:30 Comparison between the two schemes 0:34:05 PBVS architecture 0:38:55 IBVS architecture 0:43:20 PBVS vs IBVS 0:45:20 Steps in an IBVS scheme 0:53:55 Image processing techniques 0:55:20 What is a feature? 0:57:00 Video: Example of IBVS using moments 0:58:05 Camera model 1:00:40 Thin lens camera model 1:04:40 Pinhole camera model 1:08:40 Interaction matrix 1:16:30 Comments 1:23:30 Video: IBVS with straight lines as features 1:25:20 Robot differential kinematics 1:28:35 Image Jacobian 1:30:30 Kinematic control for IBVS 1:34:30 Example with NMM 1:38:10 IBVS control with Task Sequencing 1:41:50 Simulation with TS scheme 1:42:35 Video: Experiments 1:44:10 Many practical cases 1:48:35 Approximate Image Jacobian 1:50:00 An observer of the depth Z 1:52:50 Results of the estimation of Z 1:54:05 Simulation of the observer 1:55:00 IBVS control with observer 1:56:35 Experimental set-up 1:59:00 Evolution of features 2:00:00 Experiments with the observer 2:00:45 Video: Visual servoing with Kuka robot 2:04:10 Video Gazing with humanoid head.