A noble type of an image based visual servoing method and a senser based robot language for the robot manipulators with hand-held camera are developed.
To approach to the object, the distance between robot hand and the object is directly calculated by the variation of diameter of object in image plane and fedback to the robot velocity controller. To align the line of sight of robot gripper to the object, the image features such as center of object image are also fedback.
Robot velocity command is input to the modified teaching box of the PUMA 560 robot that has the capability of driving the robot in tool coordinate.
The proposed method is implemented, by a newly designed sensor based robot language that programs the control algorithm with sensory information, and tested to the PUMA 560 industrial robot.
