1511 固定輻輳ステレオビジョンシステムを用いたアイ・アンド・ハンドシステムの構築(GS-15 マニピュレータの制御,研究発表講演)

概要

論文の詳細を見る
Visual servo system is essential for autonomous robots working in unknown environments. Our visual feedback system consists from one manipulator and active vision system. Parallel stereovision is a general method to measure the target position. We propose a stereovision with angle of convergence. The workspace of the manipulator is determinate so the angle of convergence can be fixed. The active vision is constructed by giving flexibility of two axes (Tilt and Pan) to the stereovision, which has two CCD cameras in order. By positioning CCD cameras with angle of convergence it is possible to reduce the influence of the distortion of camera lens and extend the field of view.
社団法人日本機械学会の論文
2005-03-18