Journal of Mechanical Science and Technology

  • 제14권7호
  • /
  • Pages.782-788
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  • 2000
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  • 1738-494X(pISSN)
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  • 1976-3824(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
권호 표지

Image-Based Visual Servoing Control of a SCARA Robot

  • Han, Sung-Hyun (Division of mechanical Engineering and Automation, Kyungnam University) ;
  • Lee, Man-Hyung (School of Mechanical Engineering, Pusan National University) ;
  • Hashimoto, Hideki (Institute of Industrial Science, University of Tokyo, Japan)
  • 발행 : 2000.07.01
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초록

In this paper, 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 around a desired location but also at other locations. The suggested technique can guide a robot manipulator to the desired location without providing a priori knowledge such as the relative distance to the desired location or the model of an object even when 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 experimental results and compared with conventional control methods for an assembly robot.

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참고문헌

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