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.