Submit Manuscript  

Article Details


A Stage-wise Stationary Monocular Visual Control Method for Assembly Robot

[ Vol. 11 , Issue. 3 ]

Author(s):

Xiaoping Hu and Dongming Xiao*   Pages 274 - 279 ( 6 )

Abstract:


Background: The stationary monocular visual control is a major mode of robot assembly. In this mode, the viewing field is stationary and the target is not detached.

Methods: Self-calibration based on the fundamental matrix is first performed on the camera to obtain its linear interior parameters in this paper. Next, a novel stage-wise visual control method is proposed, which adopts different control strategies at different stages.

Results: The location-based visual control strategy is used for the vertical plane, and the image-based visual control strategy is used for the horizontal plane. Guidance experiment is then conducted to verify the accuracy and effectiveness of the proposed control method.

Keywords:

Assembling robot, visual control, stationary monocular vision, PID control, stage-wise control strategy, fusion controller.

Affiliation:

Hunan Provincial Key Laboratory of Health Maintenance for Mechanical Equipment, Hunan University of Science and Technology, Xiangtan, Hunan Provincial Key Laboratory of Health Maintenance for Mechanical Equipment, Hunan University of Science and Technology, Xiangtan

Graphical Abstract:



Read Full-Text article