Characteristics based visual servo for 6DOF robot arm control

• Published in: Cognitive robotics Vol. 1; pp. 76 - 82
• Main Authors: Tsuchida, Shinya, Lu, Huimin, Kamiya, Tohru, Serikawa, Seiichi
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 2021; KeAi Communications Co. Ltd
• Subjects: Image-based visual serving; Visual servo Posit algorithm Jacobian robotic; Image-based visual serving; Visual servo Posit algorithm Jacobian robotic
• ISSN: 2667-2413; 2667-2413
• DOI: 10.1016/j.cogr.2021.06.002

Visual servo is a method for robot arm motion control. It is controlled by the end effector velocity that is the result in calculating the internal Jacobi matrix and vector of feature error. In general, automatic robotic task require high quality sensor that can measure a 3-dimential distance, and do calibration in order to suit the sensor frame and robot frame in Euclidean space. In this paper, we only use RGB camera as the data collection, which not requiring the calibration in sensor frame. Thus, our method is simpler than any other automatic motion methods. Meanwhile, the proposed characteristics based visual servo method has varying the hyper parameter, and show the effectiveness for indicating the precision of pose error both simulation and actual environments.