820 ステレオ視によるビジュアルサーボシステムの構築と 3 次元追従制御

概要

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In this paper we present a new servo system to solve the visual servo control problem for 2DOF manipulator using fixed stereovision configuration. In order to accurately and quickly move the end-effector to the static/moving target on 3D-space we propeose a servo system that consists of the combination of two position-based visual servoingmethod. One method is a servo system that uses the position of the endffector by vision sensor, it is effective for the high-speed tracking. The other method is a ervo system that uses the position of the endeffector by vision, it is effective for the accurate positioning. And, we apply the proposed servo system to the experimental system that consists of an off-the-shelf CCD camera, which has high resolution. As a result, experiments have shown that it decreases steady-state deviation for a static and moving target on 3D-space without deteriorating the tracking performance. And they also have shown that it is independent of errors in lens radial distortion and the declination between camera coordinate and manipulator coordinate.
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