Real-time control of an industrial robot using image-based visualservoing

摘要

We present an approach to visual feedback control usingimage-based visual servoing with stereo vision. In order to control theposition and orientation of a robot with respect to an object, atechnique is proposed using binocular stereo vision. The stereo visionenables us to calculate an exact image Jacobian not only at around adesired location but also at the other locations. The suggestedtechnique can guide a robot manipulator to the desired location withoutgiving such priori knowledge as the relative distance to the desiredlocation or the model of an object even if the initial positioning erroris large. The paper describes a model of stereo vision and how togenerate feedback commands. The performance of the proposed visualservoing system is illustrated by the simulation and experimentalresults and compared with the case of conventional method for anassembling robot