Vision based 3-D position control for a robot arm

Author

Huang, Cheng-Hao ; Hsu, Chi-Sheng ; Tsai, Po-Chien ; Wang, Rong-Jyue ; Wang, Wen-June

Author_Institution

Dept. of Electr. Eng., Nat. Central Univ., Jhongli, Taiwan

fYear

2011

fDate

9-12 Oct. 2011

Firstpage

1699

Lastpage

1703

Abstract

This paper presents a 3-D position control for a robot arm. The system contains a fabricated robot arm, a pair of charge-coupled device (CCD) cameras, and a computer. The inverse kinematics (IK) concept is utilized to manipulate the robot arm. The two-CCD vision geometry is utilized to measure the practical 3-D position of the robot arm´s tip. Furthermore, a fuzzy position error compensator is added to adjust the target position for the IK technique such that the position accuracy can be guaranteed. The experimental results demonstrate that the robot arm can position its tip at the desired position accurately.

Keywords

CCD image sensors; cameras; error compensation; manipulator kinematics; position control; robot vision; IK technique; charge coupled device camera; fuzzy position error compensator; inverse kinematics; position accuracy; robot arm manipulator; target position; two-CCD vision geometry; vision based 3D position control; Charge coupled devices; Joints; Position control; Position measurement; Robot kinematics; Robot sensing systems; 3-D position control; charge-coupled device (CCD) geometry; fuzzy control; robot arm;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics (SMC), 2011 IEEE International Conference on

Conference_Location

Anchorage, AK

ISSN

1062-922X

Print_ISBN

978-1-4577-0652-3

Type

conf

DOI

10.1109/ICSMC.2011.6083916

Filename

6083916