This paper addresses two problems in visually-controlled robots. The first consists of positioning the end-effector of a robot manipulator on a plane of interest by using a monocular vision system. The problem amounts to estimating the transformation between the coordinates of an image point and its three-dimensional location supposing that only the camera intrinsic parameters are known. The second problem consists of positioning the robot end-effector with respect to an object of interest free to move on a plane, and amounts to estimating the camera displacement in a stereo vision system in the presence of motion constraints. For these problems, some solutions are proposed through dedicated optimizations based on decoupling the effects of rotation and translation and based on an a-priori imposition of the degrees of freedom of the system. These solutions are illustrated via simulations and experiments. ©2009 ACA. ; published_or_final_version ; The 7th Asian Control Conference (ASCC 2009), Hong Kong, China, 27-29 August 2009. In Proceedings of the Asian Control Conference, 2009, p. 372-377
Position and motion estimation for visual robot control with planar targets
2009-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
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