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Conference Paper: High-accuracy visual/PSD hybrid servoing of robotic manipulator

TitleHigh-accuracy visual/PSD hybrid servoing of robotic manipulator
Authors
KeywordsImage-based visual servoing
Robotic manipulator
Position-sensitive detector
Localization
Hybrid servoing
Issue Date2008
Citation
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2008, p. 217-222 How to Cite?
AbstractThis paper presents a new and effective multisensor based control strategy for high-accuracy/precision and high-efficiency automatic robot localization and calibration. The strategy combines both coarsely visual servo and fine position-sensitive detector (PSD) servo control methods. In a large field of view, an image-based visual servo control system is developed to roughly guide the laser beam, which is from a single laser pointer mounted at the end-effector of robot, to project to the high-resolution segmented PSDs. Once the laser spot is projected onto the active area of PSD, the control will be switched to the high-resolution PSD feedback and servoing for fine positioning. The experimental results conducted on an ABB industrial robot IRB1600 verify the effectiveness of the developed visual/PSD hybrid servo controllers as well as demonstrate that the high accuracy 30μm of robot localization can be approached. The development of the hybrid control system and method will be a major step for achieving high-performance automatic robot calibration. © 2008 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/213010

 

DC FieldValueLanguage
dc.contributor.authorLiu, Yong-
dc.contributor.authorXi, Ning-
dc.contributor.authorShen, Yantao-
dc.contributor.authorBi, Sheng-
dc.contributor.authorGao, Bingtuan-
dc.contributor.authorShi, Quan-
dc.contributor.authorLi, Xiongzi-
dc.contributor.authorZhang, George-
dc.contributor.authorFuhlbrigge, Thomas A.-
dc.date.accessioned2015-07-28T04:05:45Z-
dc.date.available2015-07-28T04:05:45Z-
dc.date.issued2008-
dc.identifier.citationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2008, p. 217-222-
dc.identifier.urihttp://hdl.handle.net/10722/213010-
dc.description.abstractThis paper presents a new and effective multisensor based control strategy for high-accuracy/precision and high-efficiency automatic robot localization and calibration. The strategy combines both coarsely visual servo and fine position-sensitive detector (PSD) servo control methods. In a large field of view, an image-based visual servo control system is developed to roughly guide the laser beam, which is from a single laser pointer mounted at the end-effector of robot, to project to the high-resolution segmented PSDs. Once the laser spot is projected onto the active area of PSD, the control will be switched to the high-resolution PSD feedback and servoing for fine positioning. The experimental results conducted on an ABB industrial robot IRB1600 verify the effectiveness of the developed visual/PSD hybrid servo controllers as well as demonstrate that the high accuracy 30μm of robot localization can be approached. The development of the hybrid control system and method will be a major step for achieving high-performance automatic robot calibration. © 2008 IEEE.-
dc.languageeng-
dc.relation.ispartofIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM-
dc.subjectImage-based visual servoing-
dc.subjectRobotic manipulator-
dc.subjectPosition-sensitive detector-
dc.subjectLocalization-
dc.subjectHybrid servoing-
dc.titleHigh-accuracy visual/PSD hybrid servoing of robotic manipulator-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/AIM.2008.4601662-
dc.identifier.scopuseid_2-s2.0-52449131291-
dc.identifier.spage217-
dc.identifier.epage222-

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