Vision Sensor Integration for Direct Manipulator End-Point Control
In the typical industrial robot application there are two ways in which the robot is programmed to perform its required tasks The first is by operating the robot in the “teach” mode where the operator guides the robot through the motions of the task to be performed, while the axis encoder outputs are stored in the control computer. Then the motions can be repeated by recalling the stored axis trajectories to be used as reference inputs for the individual robot axis controllers. In this method the operator acts as a feedback controller to ensure the proper operation is being performed accurately.
KeywordsKalman Filter Feature Point Target Object Extended Kalman Filter Disturbance Noise
Unable to display preview. Download preview PDF.
- 1.J. De Schutter, “Compliant Robot Motion: Tack Formulation and Control”, Ph.D. dissertation, Katholieke Universiteit Leuven, Belgium, February, 1986.Google Scholar
- 2.B. Espiau, “Closéd Loop Control of Robots with Local Environment Sensing: Principles and Applications”, 2nd International Symposium on Robotics Research, Kyoto, August 1984.Google Scholar
- 3.R. Niepold, F. Bruemmer, “Optical Sensor System Controls Arc Welding Process”, Proceedings of the 2nd International Conference on Robot Vision and Sensory Controls, Stuttgart, Germany, November 1–4, 1982.Google Scholar
- 4.T.J. Broida, R. Chellappa, “Kinematics and Structure of a Rigid Object from a Sequence of Noisy Images”, IEEE Workshop on Motion: Representation and Analysis, 1986.Google Scholar
- 5.G.R. Legters, T.Y. Young, “A Mathematical Model for Computer Image Tracking”, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. PAMI-4, No. 6, November 1982.Google Scholar
- 6.T.J. Broida, R. Chellappa, “Estimation of Object Motion Parameters from Noisy Images”, IEEE Trans. on Pattern Analysis and Machine Intelligence, PAMI-8, January 1986.Google Scholar
- 7.K.S Fu, R.C. Gonzalez, C.S.G. Lee, Robotics: Control, Sensing, Vision, and Intelligence, McGraw-Hill, 1987.Google Scholar
- 8.W.J. Wilson, “Coordination or Spatial Sensor Information and Image Processing Information”, Research Report, Advance Technology Centre, Defense and Systems Research Division, Honeywell Ltd., Toronto, April 1986.Google Scholar