Image-based visual feedback control of a dual-arm robot

摘要

In this paper, the authors present a new approach to visual feedback control using image-based visual servoing with stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables one to calculate an exact image Jacobian not only at around a desired location, but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object, even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for an assembling robot.