Title :
Development of visual servo based robotic system
Author_Institution :
Dept. of Electr., Electron. & Autom. Eng., Ulsan Univ., South Korea
Abstract :
This paper works toward the development of visual servo based robotic system. The objective is to control the relative position and orientation between a robot´s gripper and an object using a single camera mounted on the manipulator. The feature-based visual servoing control algorithm is used, which continually updates the pose of the robot relative to the object by using the differential changes in image plane. The total system consists of Yasukawa SK6 manipulator, PC based controller, F/64-PCI frame grabber. The PC based controller includes PMAC2 motion control board, Quad amplifier and Win 95 OS environment
Keywords :
feature extraction; industrial manipulators; robot vision; servomechanisms; F/64-PCI frame grabber; PC based controller; PMAC2 motion control board; Quad amplifier; Win 95 OS environment; Yasukawa SK6 manipulator; differential changes; feature-based visual servoing control algorithm; gripper; image plane; manipulator; pose; visual servo based robotic system; Cameras; Control systems; Jacobian matrices; Manipulators; Motion control; Robot vision systems; Robotics and automation; Service robots; Servomechanisms; Visual servoing;
Conference_Titel :
Science and Technology, 1999. KORUS '99. Proceedings. The Third Russian-Korean International Symposium on
Conference_Location :
Novosibirsk
Print_ISBN :
0-7803-5729-9
DOI :
10.1109/KORUS.1999.876261
