Servomatic: a modular system for robust positioning using stereo visual servoing

Kentaro Toyama, Gregory D. Hager, Jonathan Wang

Research output: Contribution to journalConference article

Abstract

We introduce Servomatic, a modular system for robot motion control based on calibration-insensitive visual servoing. A small number of generic motion control operations referred to as primitive skills use stereo visual feedback to enforce a specific task-space kinematic constraint between a robot end-effector and a set of target features. Primitive skills are able to position with an accuracy that is independent of errors in hand-eye calibration and are easily combined to form more complex kinematic constraints as required by different applications. 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. Our continuing goal is to develop a system where low-level robot control ceases to be a concern to higher-level robotics researchers.

Original languageEnglish (US)
Pages (from-to)2636-2642
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - Jan 1 1996
Externally publishedYes
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: Apr 22 1996Apr 28 1996

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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