Abstract
Background: The stationary monocular visual control is a major mode of robot assembly. In this mode, the viewing field is stationary and the target is not detached.
Methods: Self-calibration based on the fundamental matrix is first performed on the camera to obtain its linear interior parameters in this paper. Next, a novel stage-wise visual control method is proposed, which adopts different control strategies at different stages.
Results: The location-based visual control strategy is used for the vertical plane, and the image-based visual control strategy is used for the horizontal plane. Guidance experiment is then conducted to verify the accuracy and effectiveness of the proposed control method.
Keywords: Assembling robot, visual control, stationary monocular vision, PID control, stage-wise control strategy, fusion controller.
Graphical Abstract
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