A modular system for robust positioning using feedback from stereo vision

Research output: Contribution to journalArticlepeer-review

Abstract

This paper introduces a modular framework for robot motion control using stereo vision. The approach is based on a small number of generic motion control operations referred to as primitive skills. Each primitive skill uses visual feedback to enforce a specific task-space kinematic constraint between a robot end-effector and a set of target features. By observing both the end-effector and target features, primitive skills are able to position with an accuracy that is independent of errors in hand-eye calibration. Furthermore, primitive skills are easily combined to form more complex kinematic constraints as required by different applications. These control laws have been integrated into a system that performs tracking and control on a single processor at real-time rates. Experiments with this system have shown that it is extremely accurate, and that it is insensitive to camera calibration error. The system has been applied to a number of example problems, showing that modular, high precision, vision-based motion control is easily achieved with off-the-shelf hardware.

Original languageEnglish (US)
Pages (from-to)582-595
Number of pages14
JournalIEEE Transactions on Robotics and Automation
Volume13
Issue number4
DOIs
StatePublished - 1997
Externally publishedYes

Keywords

  • Robotics
  • Vision
  • Visual servoing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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