位置ベースステレオ視覚サーボを用いたマニピュレータの高精度位置制御法(機械力学,計測,自動制御)

In this paper, we present a new servo system to solve the visual servo control problem for 3DOF manipulator using fixed stereovision configuration. In order to accurately and quickly move the end-effector to the static/moving target on 3D-space, we propose a new position-based visual servoing method. 0ne method is a servo system that uses the position of the endeffector by position sensor, it is effective for the high-speed tracking. The other method is a servo system that uses the position of the endeffector by vision sensor, it is effective for the accurate positioning. And, we apply the proposed servo system to the experimental system that consists of an off-the-shelf CCD camera, which has high resolution. As a result, experiments have shown that it decreases steady-state deviation for a static and moving target on 3D-space without deteriorating the tracking performance. And they also have shown that it is independent of errors in lens radial distortion and the declination between camera coordinate and manipulator coordinate.