Using a knowledge base in manipulator control by calibration-free stereo vision

摘要

A 4 dimensional knowledge base that may be used as the long term memory for object manipulation by a completely uncalibrated vision guided robot is introduced. It is constructed automatically by the robot during its normal operation and adapts itself to changing conditions. Thus, the system presents self learning characteristics. The knowledge base has been successfully tested in real world experiments involving the grasping of objects.