3D Vision-Based Control On An Industrial Robot


This paper investigates the relative target-object (rigid body) pose estimation for vision-based control. A closedform target pose estimation algorithm is developed and implemented. Moreover, PI-based visual control was designed and implemented in the camera (sensor) frame to minimize the effect of errors in the extrinsic parameters of the camera. The performance of the vision-based control algorithm has been veri£ed on a 7-DOF industrial robot.

10 Figures and Tables

Cite this paper

@inproceedings{Saedan20023DVC, title={3D Vision-Based Control On An Industrial Robot}, author={Mana Saedan and Marcelo H. Ang}, year={2002} }