High-accuracy visual/PSD hybrid servoing of robotic manipulator

摘要

This paper presents a new and effective multisensor based control strategy for high-accuracy/precision and high-efficiency automatic robot localization and calibration. The strategy combines both coarsely visual servo and fine position-sensitive detector (PSD) servo control methods. In a large field of view, an image-based visual servo control system is developed to roughly guide the laser beam, which is from a single laser pointer mounted at the end-effector of robot, to project to the high-resolution segmented PSDs. Once the laser spot is projected onto the active area of PSD, the control will be switched to the high-resolution PSD feedback and servoing for fine positioning. The experimental results conducted on an ABB industrial robot IRB1600 verify the effectiveness of the developed visual/PSD hybrid servo controllers as well as demonstrate that the high accuracy 30μ m of robot localization can be approached. The development of the hybrid control system and method will be a major step for achieving high-performance automatic robot calibration.