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Robot Control Using 2D Visual Information Via Database

Authors:
Yutaka Maeda
Hidetaka Ito

Keywords: Robot control, Visual control, Simultaneous perturbation, Database

Abstract:
This paper proposes a control scheme for a robot system via a database using two-dimensional (2D) visual images. Generally speaking, when we use visual images by cameras to control a robot, three-dimensional (3D) calibration for the position information acquisition is necessary. Moreover, we calibrate the 3D camera coordinate and the robot coordinate. However, these processes are complicated. In addition, especially for hand-eye systems, the calibration is required for every movement of the robot. Thus, the situation is more difficult. In this work, we propose a calibration-free robot system via a database which gives 3D quantity of deviation for the robot arm from 2D image data by two cameras. We also explain a method to establish and update the database effectively using the simultaneous perturbation optimization method.

Pages: 83 to 88

Copyright: Copyright (c) IARIA, 2013

Publication date: April 21, 2013

Published in: conference

ISSN: 2308-4065

ISBN: 978-1-61208-269-1

Location: Venice, Italy

Dates: from April 21, 2013 to April 26, 2013