Title :
Technique for localization and visual servoing of mobile manipulators
Author :
Lee, Hyun-Jeong ; Lee, Min Cheol
Author_Institution :
Grad. Sch. of Mech. & Intell. Syst. Eng., Pusan Nat. Univ., Busan, South Korea
Abstract :
Localization and manipulation of mobile robots are the most important fundamental technology for robotic services. To realize localization and manipulation, a vision based manipulator system and an absolute positioning system based on an RFID are constructed. We investigate how localization technique can be enhanced by RFID through experiment to measure the position and moving direction of a mobile manipulator. Localization error is caused by long processing time. Error compensation is executed for improving the accuracy of measurement. Besides visual servoing based on stereo vision is executed.
Keywords :
error compensation; manipulators; mobile robots; position measurement; radiofrequency identification; stereo image processing; visual servoing; absolute positioning system; error compensation; localization; mobile manipulator; radiofrequency identification; stereo vision; vision based manipulator system; visual servoing; Cameras; Intelligent robots; Manipulators; Mobile robots; Position measurement; Radiofrequency identification; Robot sensing systems; Robot vision systems; Stereo vision; Visual servoing;
Conference_Titel :
Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on
Conference_Location :
Seoul
Print_ISBN :
978-1-4244-4347-5
Electronic_ISBN :
978-1-4244-4349-9
DOI :
10.1109/ISIE.2009.5218312
