Stereo Vision-Based Robot Servoing Control for Object Grasping
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概要
- 論文の詳細を見る
In this paper, a stereo vision-based robot servoing control approach is presented for object grasping. Firstly, three-dimensional projective reconstruction with two freestanding CCD cameras and homogeneous transformation are used to specify the goal grasping position and orientation of a robot hand. Secondly, a stereo vision-based servoing problem is formulated, and a stereo vision-based servoing control algorithm which is independent of robotic dynamics is proposed. Using this algorithm, a set of velocity reference inputs can be obtained to control the motions and velocities of the robot hand during the visual servoing. Thirdly, the methods for coping with the time delay of image processing and the CCD camera calibration are put forward. Lastly, the effectiveness of the present approach is verified by carrying out several experiments on object grasping using a 6 degrees of freedom robot. Its stability and robustness as well as flexibility are also confirmed by the experimental results.
- 一般社団法人日本機械学会の論文
- 2001-03-15
著者
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Todo Isao
Department Of Mechanical Engineering And Materials Science Yokohama National University
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XIAO NanFeng
Department of Mechanical Engineering and Materials Science, Yokohama National University
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Xiao N‐f
Department Of Mechanical Engineering And Materials Science Yokohama National University
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Xiao Nanfeng
Department Of Mechanical Engineering And Materials Science Yokohama National University
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Xiao Nan-Feng
Department of Mechanical Engineering and Materials Science, Yokohama National University
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