Development and experiment of CSM-based industrial robot servoing control system

摘要

Vision-based without camera calibration control of uncalibrated industrial robots is a challenging research problem. To address the issue, a vision-based industrial robot servoing control system has been developed with the CSM algorithm being adopted in this paper. The software and hardware of this system as well as the direct and inverse kinematics equations which map joint space into “camera space” have been described. The control strategy has been proposed and applied to the CSM-based industrial robot servoing control system. The experiments of robot positioning were performed on the developed CSM-based robot control system without camera calibration to validate the accuracy and real-time performance of the system. Experimental results show that the accuracy can reach approximately 0.3mm in 3-dimensional robot space, and the real-time performance of the system can satisfy the requirements of most industrial applications.