Robotic Tool Tracking Under Partially Visible Kinematic Chain: A Unified Approach

Anytime a robot manipulator is controlled via visual feedback, the transformation between the robot and camera frame must be known. However, in the case where cameras can only capture a portion of the robot manipulator in order to better perceive the environment being interacted with, there is great...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 38; no. 3; pp. 1653 - 1670
Main Authors:	Richter, Florian, Lu, Jingpei, Orosco, Ryan K., Yip, Michael C.
Format:	Journal Article
Language:	English
Published:	New York IEEE 01-06-2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Calibration Cameras Chains Computer vision for automation computer vision for medical robotics Errors Kinematics Manipulators Parameters perception for grasping and manipulation Robot arms Robot control Robot kinematics Robot vision systems Robots Transforms visual tracking
Online Access:	Get full text
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