同時摂動最適化法によるキャリブレーションフリーロボットシステム

概要

論文の詳細を見る
The purpose of this research is to make a calibration-free robot arm system which has a vision based controller. The system operation is carried out based on the simultaneous perturbation method.Generally speaking, many robot systems involve a kind of vision-based controller which is able to control positions of a manipulator with explicit calibration of camera and robot parameters. However, these systems require much information about geometry of camera parameters and kinematics of the system. At the same time, calibration itself will be a time-consuming process as well. As a result, these systems become relatively complex. Moreover, if circumstances or camera parameters change, we have to recalibrate the system.In this paper, we would like to propose a calibration-free robot control system using the simultaneous perturbation method. By using the simultaneous perturbation method, the system does not require any information on the robot or the camera. Actually, we can move the tip of the robot arm to goal point without any information on the system. Actual experiments show feasibility and usefulness of the proposed system.
社団法人電気学会の論文
2003-09-01