ARTICLE
TITLE

The Study of 3D Reaching Tasks on Visual Servoing Using Quaternion

SUMMARY

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.

PAGES

 Articles related

Vitalia Hanako Murni Simanjuntak    

Despite the fact that research on speech acts has been widely conducted in many communication activities in Indonesia, studies on speech acts in religious communication inside the church, particularly those involving instructors and Sunday school pupils,... see more


Ghadeer Dardier Afify Khalifa    

This paper aims to study some unpublished lanterns, preserved in the Islamic Art Museum in Cairo through analytical, historical and artistic study. In general, the lanterns are oil lamps and usually with a large round bulbous body, reaching to a narrower... see more


O. I. Panasenko, G. S. Tartynska, V. V. Hutsol    

Introduction. Environment, lowered physical activity and low standards of living lead to the increase of incidence of diseases in the population of Ukraine, in particular, pathologies of prostate in men. Creation of plant-derived medicines for the treatm... see more


Jean Denison Kirshner    

This case study on Belize educators during the COVID-19 school closures examines the innovative approach the educators of this country took. As many schools across the globe swiftly pivoted to online learning during the COVID-19 school closures, the educ... see more


Abbas Ali Diwan, Abdul Kareem F. Hassan, Sabah M. Thahab    

This research represents an experimental work to study the effect of temperature and curing time on the shear strength of adhesive joints by polyvinyl pyrrolidone PVP k30. In this work, shear strength of the adhesive made from dissolving 8 grams of polyv... see more