A new feedback robot control method based on position/image sensor integration

This paper proposes a new feedback control method based on simultaneous use of position/image sensors for a robot arm. The proposed method can guarantee the stability of the robot motion with the position sensors and can enhance the reliability. Moreover, the image sensors can achieve fine positioning without being affected by position sensors. The proposed control method needs neither kinematic calibration nor camera calibration. The effectiveness of the proposed method is demonstrated by experimental results in which a robot with 3DOF and a stereo camera set are utilized.

Authors

• Ryosuke Nishida
• Sadao Kawamura

Keywords

• Cameras
• Robot kinematics
• Robot vision systems
• Joints
• Control Method
• Robot Control
• Integration Of Sensors
• Feedback Control
• Image Sensor
• Sensor Locations
• Robotic Arm
• Robot Motion
• Camera Calibration
• Stereo Camera
• Feedback Control Method
• Positive Constant
• Visual Feedback
• Position Error
• Camera Images
• Target Object
• Joint Angles
• Feedback Gain
• External Sensors
• Robot Dynamics
• Internal Sensors
• Camera Coordinate
• Visual Servoing
• Stability Proof
• Stable Motion
• Linear Feedback Control
• Robot Sensors