Jove
Visualize
Contact Us

Related Concept Videos

Curvilinear Motion: Normal and Tangential Components01:27

Curvilinear Motion: Normal and Tangential Components

1.1K
When a car traverses a curved road, its motion can be elucidated by breaking it down into tangential and normal components. The car-centric coordinates attached to the vehicle move with it.
The positive direction of the t-axis aligns with the increasing position of the car along the curved path, denoted by the unit vector ut. Simultaneously, the n-axis, perpendicular to the t-axis, dissects the curved path into differential arc segments, each forming the arc of a circle with a radius of...
1.1K
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

841
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
841
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

925
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
925
Relative Motion Analysis using Rotating Axes01:25

Relative Motion Analysis using Rotating Axes

1.1K
Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
1.1K
Kinematic Equations for Rotation01:30

Kinematic Equations for Rotation

976
In mechanics, when one observes a rigid body in rotational motion with constant angular acceleration, it is possible to establish equations for its rotational kinematics. This process resembles how linear kinematics are dealt with in simpler motion studies.
For instance, imagine a point A on a rigid body engaged in circular motion. The translational velocity of this particular point can be calculated by taking the time derivatives of the displacement equation, which essentially measures the...
976
Gyroscope: Precession01:24

Gyroscope: Precession

5.9K
Precession can be demonstrated effectively through a spinning top. If a spinning top is placed on a flat surface near the surface of the Earth at a vertical angle and is not spinning, it will fall over due to the force of gravity producing a torque acting on its center of mass. However, if the top is spinning on its axis, it precesses about the vertical direction, rather than topple over due to this torque. Precessional motion is a combination of a steady circular motion of the axis and the...
5.9K

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Discrete-Time Visual Servoing Control with Adaptive Image Feature Prediction Based on Manipulator Dynamics.

Sensors (Basel, Switzerland)ยท2024
See all related articles
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Experiment Video

Updated: Mar 29, 2026

Robotized Testing of Camera Positions to Determine Ideal Configuration for Stereo 3D Visualization of Open-Heart Surgery
05:12

Robotized Testing of Camera Positions to Determine Ideal Configuration for Stereo 3D Visualization of Open-Heart Surgery

Published on: August 12, 2021

2.6K

Compact Dual-Quaternion-Based Visual Servoing for Perpendicular Alignment with Surface Normal Constraints.

Sheng Li1, Chao Ye1, Chenlu Liu1

  • 1Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150080, China.

Sensors (Basel, Switzerland)
|March 28, 2026
PubMed
Summary
This summary is machine-generated.

This study introduces a dual-quaternion visual servoing method for precise robotic button pressing. It ensures perpendicular alignment, significantly improving accuracy and efficiency over conventional techniques.

Keywords:
dual quaternionmanipulatorvisual servoing

More Related Videos

Three Dimensional Vestibular Ocular Reflex Testing Using a Six Degrees of Freedom Motion Platform
10:12

Three Dimensional Vestibular Ocular Reflex Testing Using a Six Degrees of Freedom Motion Platform

Published on: May 23, 2013

16.7K
Operation of the Collaborative Composite Manufacturing CCM System
10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

7.2K

Related Experiment Videos

Last Updated: Mar 29, 2026

Robotized Testing of Camera Positions to Determine Ideal Configuration for Stereo 3D Visualization of Open-Heart Surgery
05:12

Robotized Testing of Camera Positions to Determine Ideal Configuration for Stereo 3D Visualization of Open-Heart Surgery

Published on: August 12, 2021

2.6K
Three Dimensional Vestibular Ocular Reflex Testing Using a Six Degrees of Freedom Motion Platform
10:12

Three Dimensional Vestibular Ocular Reflex Testing Using a Six Degrees of Freedom Motion Platform

Published on: May 23, 2013

16.7K
Operation of the Collaborative Composite Manufacturing CCM System
10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

7.2K

Area of Science:

  • Robotics
  • Computer Vision
  • Control Systems

Background:

  • Robotic button pressing requires high accuracy, often compromised by conventional vision methods due to approach angle errors.
  • Conventional vision-based servoing struggles with positional inaccuracies when the end-effector is not perpendicular to the target surface.

Purpose of the Study:

  • To develop a novel dual-quaternion-based visual servoing method for enhanced accuracy and efficiency in robotic button pressing.
  • To ensure the robot's pressing direction remains perpendicular to the target surface throughout the motion.

Main Methods:

  • Utilized RGB-D camera data to acquire target pose information (position, depth, surface normal).
  • Converted pose information into dual quaternion representation for visual servoing control.
  • Computed the image Jacobian matrix for the dual quaternion pose.

Main Results:

  • The dual-quaternion method ensures the pressing direction and camera optical axis remain perpendicular, eliminating misalignment.
  • Achieved more efficient visual servoing control compared to conventional methods.
  • Demonstrated significant improvements in positioning accuracy and computational efficiency.

Conclusions:

  • The proposed dual-quaternion visual servoing method effectively enhances robotic button-pressing accuracy and efficiency.
  • Dual quaternions offer a compact and efficient representation for spatial displacements in SE(3) for robotic control.
  • This approach overcomes limitations of conventional methods, enabling reliable physical button interaction in robotics.