抄録
This paper proposes a control scheme for a robot system via a knowledge database using visual image. Generally speaking, 3D calibration for the position information acquisition is necessary, when we use visual images by cameras. However, the 3D calibration is a complicated procedure. In addition, especially for hand-eye systems, the calibration is required for every movement of the robot. Thus the situation is more difficult. In this work, we built calibration-free robot system via a knowledge database which gives 3D quantity of deviation for the robot arm from 2D image data by two cameras. Moreover in order to establish and update the knowledge base, we used the simultaneous perturbation method. We made a system in which the knowledge database is effectively established for every movement with SP method. As a result, the hand-eye robot arm system can move quickly without 3D calibration.
