Title :
A general framework for robot hand-eye coordination
Author :
Liang, Ping ; Feng, Jianjiang ; Hackwood, Susan
Author_Institution :
Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
Abstract :
A general framework for robot hand-eye coordination is proposed, including: dynamic, real time, adaptive hand-eye calibration; full cooperation and mutual coordination of a vision system and a robot manipulator; and three stages in motion control, namely, global motion control, precise measurement of object-in-hand, and fine-motion control. In measurement of object-in-hand, an iterative method based on null motion observation is used. In fine-motion control, objects are aligned by an iterative method based on the precise alignment of laser stripes projected on the objects. In both cases, the final accuracy does not depend on the accuracy of the hand-eye calibration. This method of fine motion determination is analytical and general
Keywords :
adaptive control; calibration; computer vision; position control; robots; adaptive hand-eye calibration; alignment; hand-eye coordination; iterative method; laser stripes; manipulator; motion control; null motion observation; real time; robot; vision system; Adaptive control; Calibration; Iterative methods; Manipulator dynamics; Motion control; Motion measurement; Programmable control; Real time systems; Robot kinematics; Robot vision systems;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12204
