1206 アクティブビジョンを用いたアイ・アンド・ハンド型視覚サーボシステムの構築

概要

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The robot, which moves in the actual environment, does not do the action decided under the environment planned like the industrial robot. Therefore, ability of autonomously recognizing the external environment is necessary to deal with unknown of the environment and uncertainty of the modeling. So, it is necessary to build a vision sensor into a servo system. When we acquire vision information, strong nonlinear nature of lens and gap of camera coordinates and manipulator coordinates degrades position accuracy. In this paper we construct eye-and-hand type visual servo system with active vision. By always catching a target at the center of a camera coordinate system, the nonlinear distorted influence of a lens is reduced. As a result, experiments have shown that it succeeded in wide range and highly precise target tracking control.
一般社団法人日本機械学会の論文