<title>Three-dimensional camera-space manipulation using servoable cameras</title>

摘要

Using the method of camera-space manipulation, high-precision, 3-dimensional rigid-body positioning tasks have been performed with a holonomic, six-axis, GMF S-400 robot. Further development, aimed at expanding the usable region of the robot's workspace; and at achieving the higher precision enabled by a narrower field of view for the cameras, includes the use of cameras mounted on servoable platforms or `pan/tilt' units. The approach followed in the implementation of servoable cameras is designed to make use of information `learned' before camera repositioning to update view parameter estimates without undergoing large extraneous arm movement. The paper describes this approach and presents the first results of experimental work used for testing it.