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 language | English (US) |
|---|---|
| Pages (from-to) | 2636-2642 |
| Number of pages | 7 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| State | Published - Jan 1 1996 |
| Externally published | Yes |
| Event | Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA Duration: Apr 22 1996 → Apr 28 1996 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering