Abstract
This paper discusses a perceptual system for intelligent control of robot arms. Especially, our target of the robot arm system should perform the task of cleaning the table. First steps for execution, we proposed perceptual system using a 3D-range camera and a CCD camera for the intelligent control of robot arm. In this study, we proposed perceptual system based on retinal structure by using 3D-TOF(Time-Of-Flight) range camera that can measure distance directly in finite field. Moreover, we proposed a image feature matching that detect a target dish more robustness in changing environment. Therefore, we apply the proposed method for a task of clearing the table. As an experimental result, we show the directly perceive the necessary information for control of robot arms.
