A Stage-wise Stationary Monocular Visual Control Method for Assembly Robot

Author(s): Xiaoping Hu, Dongming Xiao*

Journal Name: Recent Advances in Electrical & Electronic Engineering
Formerly Recent Patents on Electrical & Electronic Engineering

Volume 11 , Issue 3 , 2018


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Graphical Abstract:


Abstract:

Background: The stationary monocular visual control is a major mode of robot assembly. In this mode, the viewing field is stationary and the target is not detached.

Methods: Self-calibration based on the fundamental matrix is first performed on the camera to obtain its linear interior parameters in this paper. Next, a novel stage-wise visual control method is proposed, which adopts different control strategies at different stages.

Results: The location-based visual control strategy is used for the vertical plane, and the image-based visual control strategy is used for the horizontal plane. Guidance experiment is then conducted to verify the accuracy and effectiveness of the proposed control method.

Keywords: Assembling robot, visual control, stationary monocular vision, PID control, stage-wise control strategy, fusion controller.

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Article Details

VOLUME: 11
ISSUE: 3
Year: 2018
Published on: 13 February, 2018
Page: [274 - 279]
Pages: 6
DOI: 10.2174/2352096511666180214112959
Price: $25

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