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

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2 Author(s)
Nishida, R. ; Dept. of Robot., Ritsumeikan Univ., Kusatsu, Japan ; Kawamura, S.

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.

Published in:

Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on

Date of Conference:

7-12 Oct. 2012