Title :
High-precision servo control of robot arm based on vision and PSD
Author :
Lu Jun ; Song Jinghao ; Liu Yong
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
The high-precision control for the IRB1600 robot of ABB company is implemented based on vision and PSD servo control. First, a wide range and coarse-precision control for the robot is made based on visual servoing control method, and the camera intrinsic parameter matrix can be acquired via the method of camera self-calibration based on absolute conic, and the extraction of visual features can be achieved through the region-growing algorithm. The joint controllers of robot are designed by using the method of nonlinear feedback linearization. The usage of PSD servo control completes the high-precision control for robot. For the signal characteristics of PSD, the speed-controllers for the PSD saturation phrase and the controllers for the PSD linearity phase are designed. The validity of the aforementioned methods can be verified by the experimental results while applying these methods to IRB1600 robot.
Keywords :
calibration; cameras; control engineering computing; control system synthesis; feature extraction; feedback; linearisation techniques; manipulators; robot vision; servomechanisms; velocity control; visual servoing; ABB company; IRB1600 robot; PSD linearity phase; PSD servocontrol; absolute conic; camera intrinsic parameter matrix; camera self-calibration method; coarse-precision control; high-precision servocontrol; joint controllers; nonlinear feedback linearization; position sensitive detector; region-growing algorithm; robot arm; robot vision; signal characteristics; speed-controllers; visual feature extraction; visual servoing control method; Automation; Cameras; Educational institutions; Electronic mail; Light emitting diodes; Robots; Servosystems; PSD; camera calibration; robot; visual servoing;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
