Intelligent control of a robot manipulator by visual feedback |
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Authors: | Sung-Hyun Han Jong-Il Bae Man-Hyung Lee |
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Affiliation: | (1) Division of Mechanical Engineering and Automation, Kyungnam University, Masan, Korea;(2) Department of Electrical Engineering, Pukyung National University, Pusan, Korea;(3) School of Mechanical Engineering, Pusan National University, 30 Jangjeon-Dong, Kunjung-Ku, 609-735 Pusan, Korea |
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Abstract: | We present a new approach to visual feedback control using image-based visual servoing with stereo vision. In order to control
the position and orientation of a robot with respect to an object, a new technique is proposed using binocular stereo vision.
The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location, but also at other
locations. The suggested technique can guide a robot manipulator to the desired location without needing such a priori knowledge
as the relative distance to the desired location or a model of the object, even if the initial positioning error is large.
We describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing
system is illustrated by a simulation and by experimental results, and compared with the conventional method for an assembling
robot.
This work was presented in part at the Fourth International Symposium on Artificial Life and Robotics, Oita, Japan, January
19–22, 1999 |
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Keywords: | Intelligent control Visual feedback Image Jacobian Stereo vision |
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