Efficient Camera-Space Target Disposition in a Matrix of Moments Structure Using Camera-Space Manipulation

This paper introduces a new estimation approach for determining the sequence of internal manipulator configurations which are required to perform a task on an arbitrarily positioned and oriented workpiece, in the context of the method of camera-space manipulation— a robust and precise means of controlling three-dimensional robot maneuvers using vision. Despite a nonlinear estimation model, a recursive scheme is developed. This approach reduces the computational and memory burden that is required by the “batch” estimation approach while retaining identical results. The same formalism that permits this result is used to condense to a minimum the visual information required to create “camera-space objectives.” The discussion includes actual experimental results wherein robust, millimeter six-axis positioning precision with a three-dimensional, rigid-body task is achieved using a very large GMF S-400 robot. KEY WORDS—Camera-space manipulation, nonlinear estimation, computer vision, robotics, recursive algorithms