Development of visual servo based robotic system

Author

Kang, Hee-Jun

Author_Institution

Dept. of Electr., Electron. & Autom. Eng., Ulsan Univ., South Korea

Volume

2

fYear

1999

fDate

1999

Firstpage

696

Abstract

This paper works toward the development of visual servo based robotic system. The objective is to control the relative position and orientation between a robot´s gripper and an object using a single camera mounted on the manipulator. The feature-based visual servoing control algorithm is used, which continually updates the pose of the robot relative to the object by using the differential changes in image plane. The total system consists of Yasukawa SK6 manipulator, PC based controller, F/64-PCI frame grabber. The PC based controller includes PMAC2 motion control board, Quad amplifier and Win 95 OS environment

Keywords

feature extraction; industrial manipulators; robot vision; servomechanisms; F/64-PCI frame grabber; PC based controller; PMAC2 motion control board; Quad amplifier; Win 95 OS environment; Yasukawa SK6 manipulator; differential changes; feature-based visual servoing control algorithm; gripper; image plane; manipulator; pose; visual servo based robotic system; Cameras; Control systems; Jacobian matrices; Manipulators; Motion control; Robot vision systems; Robotics and automation; Service robots; Servomechanisms; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Science and Technology, 1999. KORUS '99. Proceedings. The Third Russian-Korean International Symposium on

Conference_Location

Novosibirsk

Print_ISBN

0-7803-5729-9

Type

conf

DOI

10.1109/KORUS.1999.876261

Filename

876261