Technique for localization and visual servoing of mobile manipulators

Author

Lee, Hyun-Jeong ; Lee, Min Cheol

Author_Institution

Grad. Sch. of Mech. & Intell. Syst. Eng., Pusan Nat. Univ., Busan, South Korea

fYear

2009

fDate

5-8 July 2009

Firstpage

652

Lastpage

657

Abstract

Localization and manipulation of mobile robots are the most important fundamental technology for robotic services. To realize localization and manipulation, a vision based manipulator system and an absolute positioning system based on an RFID are constructed. We investigate how localization technique can be enhanced by RFID through experiment to measure the position and moving direction of a mobile manipulator. Localization error is caused by long processing time. Error compensation is executed for improving the accuracy of measurement. Besides visual servoing based on stereo vision is executed.

Keywords

error compensation; manipulators; mobile robots; position measurement; radiofrequency identification; stereo image processing; visual servoing; absolute positioning system; error compensation; localization; mobile manipulator; radiofrequency identification; stereo vision; vision based manipulator system; visual servoing; Cameras; Intelligent robots; Manipulators; Mobile robots; Position measurement; Radiofrequency identification; Robot sensing systems; Robot vision systems; Stereo vision; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on

Conference_Location

Seoul

Print_ISBN

978-1-4244-4347-5

Electronic_ISBN

978-1-4244-4349-9

Type

conf

DOI

10.1109/ISIE.2009.5218312

Filename

5218312