Vision based 3-D position control for a robot arm

Cheng Hao Huang, Chi Sheng Hsu, Po Chien Tsai, Rong Jyue Wang, Wen June Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

This paper presents a 3-D position control for a robot arm. The system contains a fabricated robot arm, a pair of charge-coupled device (CCD) cameras, and a computer. The inverse kinematics (IK) concept is utilized to manipulate the robot arm. The two-CCD vision geometry is utilized to measure the practical 3-D position of the robot arm's tip. Furthermore, a fuzzy position error compensator is added to adjust the target position for the IK technique such that the position accuracy can be guaranteed. The experimental results demonstrate that the robot arm can position its tip at the desired position accurately.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011 - Conference Digest
Pages1699-1703
Number of pages5
DOIs
StatePublished - 2011
Event2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011 - Anchorage, AK, United States
Duration: 9 Oct 201112 Oct 2011

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
ISSN (Print)1062-922X

Conference

Conference2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011
Country/TerritoryUnited States
CityAnchorage, AK
Period9/10/1112/10/11

Keywords

  • 3-D position control
  • charge-coupled device (CCD) geometry
  • fuzzy control
  • robot arm

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