Visual servo control of a three degree of freedom robotic arm system

Author

Ho-Chung Chang ; Ta-Ming Shih

Author_Institution

Grad. Sch. of Defense Sci., Nat. Defense Univ., Taipei

fYear

2008

fDate

23-25 Aug. 2008

Firstpage

1

Lastpage

6

Abstract

The remote controlled weapon station (RCWS) is currently highly emphasized in infantry warfare. The future trend will focus on automatic targeting procedure to improve efficiency, and meanwhile to save the operator from hostile fire. In addition to operate the gun turret remotely, it is presently a direction to be integrated with the Unmanned Ground Vehicle (UGV) to serve as surveillance unit in the combat hot zone, such as peace keeping mission. In this research, an improved targeting algorithm based on visual servo concept, Kalman estimator and fuzzy logic theory is proposed, and a SCORBOT ER5+ robotic system was modified as a platform to demonstrate the result.

Keywords

fuzzy logic; manipulators; military vehicles; telerobotics; visual servoing; Kalman estimator; SCORBOT ER5+ robotic system; automatic targeting procedure; fuzzy logic theory; gun turret; infantry warfare; remote controlled weapon station; three degree of freedom robotic arm system; unmanned ground vehicle; visual servo control; Automatic control; Fires; Kalman filters; Land vehicles; Robotics and automation; Robots; Servomechanisms; Servosystems; Surveillance; Weapons; Fuzzy control; Kalman estimator; Template-matching; Visual servo control;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced robotics and Its Social Impacts, 2008. ARSO 2008. IEEE Workshop on

Conference_Location

Taipei

Print_ISBN

978-1-4244-2674-4

Electronic_ISBN

978-1-4244-2675-1

Type

conf

DOI

10.1109/ARSO.2008.4653594

Filename

4653594