Autonomous Field-of-View Adjustment Using Adaptive Kinematic Constrained Control with Robot-Held Microscopic Camera Feedback
Hung-Ching Lin,Murilo Marques Marinho,Kanako Harada,Hung-Ching Lin,Murilo Marques Marinho,Kanako Harada
Robotic systems for manipulation in millimeter scale often use a camera with high magnification for visual feedback of the target region. However, the limited field-of-view (FoV) of the microscopic camera necessitates camera motion to capture a broader workspace environment. In this work, we propose an autonomous robotic control method to constrain a robot-held camera within a designated FoV. Furt...
