@inproceedings{70c00af87f624a019db5f6da2057e8d9,
title = "Vision based 3-D position control for a robot arm",
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.",
keywords = "3-D position control, charge-coupled device (CCD) geometry, fuzzy control, robot arm",
author = "Huang, {Cheng Hao} and Hsu, {Chi Sheng} and Tsai, {Po Chien} and Wang, {Rong Jyue} and Wang, {Wen June}",
year = "2011",
doi = "10.1109/ICSMC.2011.6083916",
language = "???core.languages.en_GB???",
isbn = "9781457706523",
series = "Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics",
pages = "1699--1703",
booktitle = "2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011 - Conference Digest",
note = "2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011 ; Conference date: 09-10-2011 Through 12-10-2011",
}