Abstract
This paper presents a new robot manipulator uncalibrated visual serving control method, which can conduct visual feedback control under the situation that the internal and external of camera parameters and the robot manipulator model are unknown, as well as without real-time computing the inverse of image Jacobian. First, the dual cameras biaxial parallel vision configuration is applied to detect the posture of the characteristics of robot manipulator end. Then, we select the specific feature points and lines in the image plane in order to represent the five degrees of freedom of the robot manipulator in cartesian space and design a PI controller. Finally, we realized the five degrees of freedom of the robot manipulator uncalibrated visual serving control in the actual physical platform, and the experiment results show that the effectiveness of the proposed control method under the dual cameras biaxial parallel vision configuration.
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Acknowledgments
This work is supported by National Natural Science Foundation of China (61174104), Project No. 1061120131706 supported by the Fundamental Research Funds for the Central Universities and Research Foundation for Talents of Chongqing University.
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Niu, W., Lang, L., Jing, Q. (2015). A New Robot Manipulator Uncalibrated Visual Serving Control Method. In: Deng, Z., Li, H. (eds) Proceedings of the 2015 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 338. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-46466-3_36
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DOI: https://doi.org/10.1007/978-3-662-46466-3_36
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