<title>High-performance visual servoing for robot end-point control</title>

摘要

The application of robots to high-speed manufacturing is limited by problems such as teaching locations, accuracy and cycle time. This paper discusses how visual servoing could be used to ameliorate these problems. Preliminary experimental results are presented showing the use of visual servoing for robot end-point control. A VME-bus based real-time system performing both robot control and image processing is used. The machine vision subsystem, based on Datacube pipeline processing modules and an APA-512+ binary feature extraction module, analyzes the camera data at CCIR video field rate (50 Hz).