Artificial Life and Robotics

, Volume 4, Issue 3, pp 156–161 | Cite as

Intelligent control of a robot manipulator by visual feedback

  • Sung-Hyun Han
  • Jong-Il Bae
  • Man-Hyung Lee
Original Article

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.

Key words

Intelligent control Visual feedback Image Jacobian Stereo vision 

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Copyright information

© ISAROB 2000

Authors and Affiliations

  • Sung-Hyun Han
    • 1
  • Jong-Il Bae
    • 2
  • Man-Hyung Lee
    • 3
  1. 1.Division of Mechanical Engineering and AutomationKyungnam UniversityMasanKorea
  2. 2.Department of Electrical EngineeringPukyung National UniversityPusanKorea
  3. 3.School of Mechanical EngineeringPusan National UniversityPusanKorea

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