AN UNCALIBRATED ROBOT SYSTEM FOR REACHING AND GRASPING OBJECTS IN AN UNPREDICTABLE PHYSICAL ENVIRONMENT

Drago Torkar - Nikola Pavešic - Anton Pozne Jr - Stanislav Kovačič

   This article describes an active stereo vision system which, in combination with a robotic manipulator, is able to perform various visual tasks such as object reaching and grasping. Using the weak perspective camera model, the weakly calibrated stereo vision system, and some heuristics about the robot gripper, the closed-loop visual control of the robot manipulator is generated. Experiments show the robot system based on visual feedback control to be insensitive (robust) to different disturbances of the stereo vision system and robot setup during operation.

Keywords: active vision, visual robot control, weak perspective, weak calibration, stereo vision

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