抽象的

A Mobile 5 Axes Manipulator Robot with Visual Servo Control and Navigation

Nagamanikandan G, Rajadurai A

In this paper we present a design and development of a mobile robot with 5 axes manipulator and it is manipulated by visual servoing scheme which provides closed loop position control of end effector. Robots have made only less impact in application such as assembling, missile tracking, object grasping, part mating etc. This limitation is largely due to lack of sensor capabilities in a commercial robot system. It could be overcome by using vision sensor as a feedback unit to control the robot. The main disadvantage of conventional manipulator is, either it has a programmed spatial coordinates or time-consuming manual teaching of robot positions. Here, the motion of a 5 axes manipulator is not pre-programmed in the controller but the kinematics are generated by the fusion of information from vision sensor and distance measuring sensor. The navigation of this robot is accomplished by tracking the known patterns using vision sensor. In a conventional Industrial serial robot, due to moment of inertia at tip of the arm, inherent nature of sensor capabilities, wear and tear along the transmission system in joint space leads to inaccurate positioning of end-effector. These above flaws in positioning of end-effector could be completely eliminated by visual feedback control unit which increases overall accuracy of the system.