A Visual Guided Robot Using CAD Models and Fuzzy Controller for Industrial Manipulation

被引：0
|
作者：
Chen, Ching-Chang [1 ]
Wen, Chun-Ming [1 ]
Wang, Chia-Yu Eric [1 ]
Chen, Yi-Cheng [1 ]
机构：
[1] Ind Technol Res Inst, Microsyst Technol Ctr, Intelligent Mechatron Dept, Tainan, Taiwan
来源：
2014 CACS INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS 2014) | 2014年
关键词：
CAD model; fuzzy controller; manipulation; visual guide; JACOBIAN MATRIX ESTIMATION;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A visual positioning method is proposed to use the CAD model of an object to determine its position and orientation in real-time. Vision oriented features are generated off-line from the CAD model of the object by taking into account the camera intrinsic parameters. The proposed method can successfully identify the pose of the object even though some part of the object cannot be seen by the camera during manipulation. In addition to the CAD model based visual positioning method, a fuzzy controller is adopted to visually guide an EPSON robot for industrial manipulation and/or assembly. The controller can successfully stabilize and smoothly move the robot to the target object in experiments.
引用
收藏
页码：87 / 90
页数：4
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