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

研究成果: 書貢獻/報告類型會議論文篇章同行評審

5 引文 斯高帕斯(Scopus)

摘要

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.

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主出版物標題2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011 - Conference Digest
頁面1699-1703
頁數5
DOIs
出版狀態已出版 - 2011
事件2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011 - Anchorage, AK, United States
持續時間: 9 10月 201112 10月 2011

出版系列

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

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???event.eventtypes.event.conference???2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011
國家/地區United States
城市Anchorage, AK
期間9/10/1112/10/11

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