Abstract
Most of robots has link mechanisms consisting of several links and joints, and the joint angle sensors are used to measure the poses. If any one of joint angle sensors breaks down, the robot cannot know its correct pose and can not move correctly. And, if there is a gap between the true value and the sensor value of the joint angle, the robot can not also know its pose. So, if the joint angles and the pose can be estimated from a camera image, the robot can solve the above problems and be controlled without joint angle sensors. In this paper, we propose an estimation method of robot manipulator's poses by only a RGB-D sensor without joint angle sensors. In the proposed method, the 3D model of the robot is compared with the acquired RGB-D images, and the joint angles are estimated by using the depth information and the color information. The proposed method was verified by using a multifingered robot hand.
