Self-learning vision-guided robots for searching and grasping objects

摘要

An approach to control vision-guided robots is introduced. It allows searching and grasping differently shaped objects that may be located anywhere in the robot's work space, even not visible in the initial fields of view of cameras. It eliminates the need for a calibration of the robot and of the vision system, it uses no world coordinates and no inverse perspective or kinematic transformations, and it comprises an automatic adaptation to changing parameters. The approach has been implemented on a calibration-free vision-guided manipulator with five degrees of freedom (DOF) and was evaluated in real-word experiments.