Technique for localization and visual servoing of mobile manipulators

摘要

Localization and manipulation of mobile robots are the most important fundamental technology for robotic services. To realize localization and manipulation, a vision based manipulator system and an absolute positioning system based on an RFID are constructed. We investigate how localization technique can be enhanced by RFID through experiment to measure the position and moving direction of a mobile manipulator. Localization error is caused by long processing time. Error compensation is executed for improving the accuracy of measurement. Besides visual servoing based on stereo vision is executed.