3D Vision-Based Control On An Industrial Robot

Abstract

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.

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Cite this paper

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