Simulation of Visual Servo Control with Kalman Filter on Puma 560
نویسنده
چکیده
Pose estimation is important step on PositionBased Visual Servo Control System building. This paper presents a vision based position sensor system which provide three dimensional (3D) relative position and orientation (pose) of an arbitary moving object with respect to end-effector mounted camera. Kalman filtering is applied to vision measurement from a single end-effector mounted camera to implement an implicit real-time solution of the photogrametic equations and to provide significant temporal filtering of the resulting motion parameters. PUMA 560 robot is selected to implement this simulation. The kinematic and dynamic data of PUMA 560 is collected from references. Simulation is build with Matlab and Robotic Toolbox. Results of computer simulation demonstrate the successful operation of the control strategy and Kalman filter success to estimate relative pose. Index Term-visual servo control system; position-based visual control system; Kalman Filter; pose estimation
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