Direct Transition from Image Data

to Motion Control Commands

to Avoid a Calibration in the Robot Control

 

 

Abstract

 

An approach for utilizing the redundant image data to gain the robustness of robot control is introduced. The key point is the direct transition from image data to the robot control commands  without use of world coordinates. In addition, neither quantitative knowledge of the mechanical, kinematic and control characteristics of the robot, and of the sensor characteristics, nor inverse perspective or kinematic transformations is used. Thus, it eliminates the need for a calibration of the robot and of the vision system and adapts automatically to changes of the system parameters and of the environment.

 

The approach has been evaluated in real-world experiments for object manipulation by a calibration-free robot. It has proven to be suitable for a real-time implementation and has led to a more robust control than the alternative approach.