제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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- Pages.238-243
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- 1998
Real-Time Control of a SCARA Robot by Visual Servoing with the Stereo Vision
- S. H. Han (School of Mechanical Engineering, Kyungnam University) ;
- Lee, M. H. (School of Mechanical Engineering, Pusan National University) ;
- K. Son (School of Mechanical Engineering, Pusan National University) ;
- Lee, M. C. (School of Mechanical Engineering, Pusan National University) ;
- Park, J. W. (School of Mechanical Engineering, Pusan National University) ;
- Lee, J. M. (School of Electrical Engineering & ERC/Net Shape & Die Manufacturing, Pusan National University)
- 발행 : 1998.10.01
초록
This paper presents a new approach to visual servoing with the stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method fur a SCARA robot.
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