Precise Positioning of Binocular Eye-to-Hand Robotic Manipulators |
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Authors: | Wen-Chung Chang |
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Affiliation: | (1) Department of Electrical Engineering, National Taipei University of Technology, NTUT Box 2125, Taipei, 106, Taiwan, Republic of China |
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Abstract: | This article addresses the visual servoing of a rigid robotic manipulator equipped with a binocular vision system in eye-to-hand
configuration. The control goal is to move the robot end-effector to a visually determined target position precisely without knowing the precise camera model. Many vision-based robotic positioning systems have been successfully implemented
and validated by supporting experimental results. Nevertheless, this research aims at providing stability analysis for a class
of robotic set-point control systems employing image-based feedback laws. Specifically, by exploring epipolar geometry of
the binocular vision system, a binocular visual constraint is found to assist in establishing stability property of the feedback system. Any three-degree-of-freedom positioning task,
if satisfying appropriate conditions with the image-based encoding approach, can be encoded in such a way that the encoded error, when driven to zero, implies that the original task
has been accomplished with precision. The corresponding image-based control law is proposed to drive the encoded error to
zero. The overall closed-loop system is exponentially stable provided that the binocular model imprecision is small. |
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Keywords: | binocular vision binocular visual constraint epipolar geometry exponential stability regulation robot control task encoding visual servoing |
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