@inproceedings{093e6c2567654229b0ff1ab3e43f490a,
title = "Singularity Avoidance Strategies for Target Tracking Visual Servo Systems",
abstract = "A typical vision servo system for motion target tracking consists of a robotic manipulator and a camera mounted at its end. The image acquired by the camera is processed by a vision algorithm to obtain the position of the motion target in 3D space, whereby the servo controller controls the robotic manipulator to track the motion of the target and keep it in the camera's field of view at all times. In this paper, we proposed an evaluation indicator to evaluate such tracking tasks, and proposed an adaptive damped least-square algorithm to avoid singularities during the motion of the robotic arm. An experimental platform consist of ZED binocular camera and UR5 robotic arm is built to conduct experiments on singularity avoidance and target tracking, verifying that the visual servo system with the singularity avoidance algorithm can achieve a good tracking result.",
author = "Wenxiao Lei and Dong Zhou and Peng Li and Guanghui Sun",
note = "Publisher Copyright: {\textcopyright} 2021 Technical Committee on Control Theory, Chinese Association of Automation.; 40th Chinese Control Conference, CCC 2021 ; Conference date: 26-07-2021 Through 28-07-2021",
year = "2021",
month = jul,
day = "26",
doi = "10.23919/CCC52363.2021.9549763",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "2855--2859",
editor = "Chen Peng and Jian Sun",
booktitle = "Proceedings of the 40th Chinese Control Conference, CCC 2021",
address = "美国",
}