Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Implementation and Experimentation of Tracking Control of a Moving Object for Humanoid Robot Arms ROBOKER by Stereo Vision

스테레오 비전정보를 사용한 휴머노이드 로봇 팔 ROBOKER의 동적 물체 추종제어 구현 및 실험

  • 이운규 (도담시스템) ;
  • 김동민 (충남대학교 메카트로닉스) ;
  • 최호진 (충남대학교 메카트로닉스) ;
  • 김정섭 (충남대학교 메카트로닉스) ;
  • 정슬 (충남대학교 메카트로닉스)
  • Published : 2008.10.01
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Abstract

In this paper, a visual servoing control technique of humanoid robot arms is implemented for tracking a moving object. An embedded time-delayed controller is designed on an FPGA(Programmable field gate array) chip and implemented to control humanoid robot arms. The position of the moving object is detected by a stereo vision camera and converted to joint commands through the inverse kinematics. Then the robot arm performs visual servoing control to track a moving object in real time fashion. Experimental studies are conducted and results demonstrate the feasibility of the visual feedback control method for a moving object tracking task by the humanoid robot arms called the ROBOKER.

Keywords

References

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