Visual servoing of 8-DOF arm for mobile robot platform

摘要

This paper suggests the control technique that end-effector of manipulator can chase an object using an image gained from a stereo camera installed in a mobile robot platform and the camera positioned at the end of redundant manipulator in a wide working space. By using the stereo camera for searching the object in the wide working space, it is controlled to enable the end-effector of manipulator to approach the object. When the image of object is inputted to the camera equipped in end-effector, the manipulator is operated by reducing a position error between end-effector and object. Servo control system is verified through inter-layerpsilas autonomous navigation experiment using the mobile robotpsilas elevator with 8 DOF robot arms.