Three-dimensional vision for robot manipulator control

Peter J. Shuttleworth; Max Robinson

doi:10.1117/12.21082

1 January 1990 Three-dimensional vision for robot manipulator control

Peter J. Shuttleworth, Max Robinson

Author Affiliations +

Proceedings Volume 1293, Applications of Artificial Intelligence VIII; (1990) https://doi.org/10.1117/12.21082
Event: 1990 Technical Symposium on Optics, Electro-Optics, and Sensors, 1990, Orlando, FL, United States

Abstract

For a number of years Nottingham Polytechnic has been investigating the use of stereoscopic vision in robotic applications. The aim of the current project is to produce a robotic system which can locate an object in three dimensional space, move the arm to the correct position and then pick up the object without human intervention. The technique uses a pair of television cameras configured to give a stereoscopic view of the working envelope of the robot manipulator. A prototype vision guided robot manipulator control system has been produced. The system uses photogrammetric calibration procedures which can account for unknown camera position and/or orientation as well as the major components of lens distortion. The calibration mechanism also performs the eye- hand-coordination function. This prototype uses a stereoscopic camera arrangement to provide three dimensional position information. The stereo-correspondence problem is solved using a combination of structured light and dedicated electronic hardware. The result of the work is a prototype manipulator control system which uses vision to close the control loop. The overall effect is a robot arm which moves towards an object, correcting its position as it moves. This is similar in concept to the way human beings approach the problem of grasping an object.

Citation Download Citation

Peter J. Shuttleworth and Max Robinson "Three-dimensional vision for robot manipulator control", Proc. SPIE 1293, Applications of Artificial Intelligence VIII, (1 January 1990); https://doi.org/10.1117/12.21082

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