Robot manipulator position and posture control is a popular topic in the field of uncalibrated visual servoing, this paper presents a kalman filter-based robot manipulator five-degrees of freedom uncalibrated vision positioning method. In the case of the fixed binocular cameras and manipulator parameters are unknown; firstly, the specific point and angle image features information in the camera image space were selected in order to describe the relative pose relationship between robot manipulator ends and goals. Then, the kalman filter online estimation algorithm was applied to calculate image Jacobian matrix which is mapping relationship between image space to cartesian mission space, and vision controller was designed in the image plane realized robot manipulator five-degrees of freedom uncalibrated vision positioning control. Finally, Six-degrees of freedom robot manipulator’s five-degrees of freedom uncalibrated visual positioning Simulink model established in the Matlab environment, and the simulation result show that kalman filter online estimation method made the robot manipulator rapid convergence to the desired position and posture with high accuracy.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Kalman Filter-Based Robot Manipulator Five-Degrees of Freedom Uncalibrated Vision Positioning



    Published in:

    Publication date :

    2014-10-08


    Size :

    5 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Uncalibrated Vision-Based Mobile Robot Control

    Piepmeier, Jenelle Armstrong / Morgan, Peter A. | ASCE | 2002


    Uncalibrated Vision-Based Mobile Robot Control

    Piepmeier, J. A. / Morgan, P. A. / American Society of Civil Engineers | British Library Conference Proceedings | 2002


    Human-robot interface by pointing with uncalibrated stereo vision

    Cipolla, R. / Hollinghurst, N. J. | British Library Online Contents | 1996


    A ROBOMECH CLASS PARALLEL MANIPULATOR WITH THREE DEGREES OF FREEDOM

    Zhumadil Baigunchekov / Azamat Mustafa / Tarek Sobh et al. | BASE | 2020

    Free access

    MECHANICAL JOINT WITH FIVE DEGREES OF FREEDOM

    BJOERK CARL | European Patent Office | 2021

    Free access