Intelligent control of a robot manipulator by visual feedback
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.
Key wordsIntelligent control Visual feedback Image Jacobian Stereo vision
Unable to display preview. Download preview PDF.
- 1.Allen PK, Toshimi B, Timcenko A (1991) Real-time visual serving. In: Proceedings of the IEEE International Conference on Robotics and Automation, 1991, pp 851–856Google Scholar
- 2.Hashimoto K, Kimoto T, Edbine T, et al. (1991) Manipulator control with image-based visual servo. In: Proceedings of the IEEE International Conference on Robotics and Automation, 1991, pp 2267–2272Google Scholar
- 3.Chaumette F, Rives P, Espiau B (1991) Positioning of a robot with respect to an object, tracking it and estimating its velocity by visual servoing. In: Proceedings of the IEEE International Conference on Robotics and Automation, 1991, pp 2248–2253Google Scholar
- 4.Hashimoto K, Edbine T, Kimura H (1992) Dynamic visual feedback control for a hand-eye manipulator. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 1863–1868Google Scholar
- 5.Bernard E, Francois C, Patrick R (1992) A new approach to visual servoing in robotics. IEEE Trans Robotics Autom 313–326Google Scholar
- 6.Weiss LE, Sanderson AC, Neuman CP (1987) Dynamic sensor-based control of robots with visual feedback IEEE J Robotics Autom 404–417Google Scholar
- 8.Sundareswaran V, Bouthemy P, Chaumette F (1996) Exploiting image motion for active vision in a visual servoing framework. Int J Robotics Res 15:629–645Google Scholar