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Summary: 3D Vision-Based Control On An Industrial Robot
Mana Saedan and Marcelo H. Ang Jr.*
Department of Mechanical Engineering
National University of Singapore, Singapore 119260
*mpeangh@nus.edu.sg
Abstract
This paper investigates the relative target-object (rigid
body) pose estimation for vision-based control. A closed-
form target pose estimation algorithm is developed and
implemented. Moreover, PI-based visual control was de-
signed and implemented in the camera (sensor) frame to
minimize the effect of errors in the extrinsic parameters of
the camera. The performance of the vision-based control
algorithm has been veriŁed on a 7-DOF industrial robot.
1. Introduction
Industrial robots are designed for tasks such as pick and
place, welding, and painting. The environment and the
working conditions for those tasks are well set. If the work-
ing condition changed, those robots may not be able to
work properly. Therefore, external sensors are necessary
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