Abstract

This paper presents three-dimensional robot task using the vision control method. A minimum of two cameras is required to place points on end dffectors of n degree-of-freedom manipulators relative to other bodies. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes known three-axis manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameters estimated by the iteration method.

Keywords

• Vision system;
• Estimation model;
• Parameter;
• Performance index;
• Point Placement;
• Orientation

• 비젼시스템;
• 추정모델;
• 매개변수;
• 성능지수;
• 점배치;
• 방위;