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Controlling robot arm manipulator using image-based visual servoing without pre-depth information

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5 Author(s)
So-Youn Park ; Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea ; Yeoun-Jae Kim ; Ju-Jang Lee ; Byung Soo Kim
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This paper presents an image based visual servoing of 5 degrees-of-freedom (DOF) manipulator not knowing the depth information in advance. In general, visual servoing and plant (robot) control is constructed as single algorithm, combining feature (image) Jacobian with plant Jacobian considering plant dynamics. In this paper, however, we separate visual servoing from plant control. Image information obtained from camera is transformed into angle information by using forward and inverse kinematics and these values are transferred to control module in order to manipulate robot arm. The proposed control system is verified through the experiment.

Published in:

IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society

Date of Conference:

7-10 Nov. 2011