Pacific-Asia Workshop on Computational Intelligence and Industrial Application, IEEE (2008)
Dec. 19, 2008 to Dec. 20, 2008
In recent years, eye-in-hand robot visual servoing has drawn increasing concern in robot industry. Considering visual servoing system of the eye-in-hand, this paper presents a control theoretic formulation. The new binocular stereo model hasn't depth information. It avoids measuring and estimating the depth of object point, which can improve the control performance. It is the most outstanding advantage that other models don’t have. Besides, in this model, we use two-camera vision system to image, which has wider vision field than one CCD vision system. Utilizing this model and only considering kinematics characteristics of the robot, this paper proposes a controller to control the end-effector of the robot. The simulation results have shown the validity of the model.
eye-in-hand vision system, control of robots, binocular stereo vision
M. Jin, H. Li and L. Zou, "A New Binocular Stereo Visual Servoing Model," 2008 Pacific-Asia Workshop on Computational Intelligence and Industrial Application. PACIIA 2008(PACIIA), Wuhan, 2008, pp. 461-465.