IP706 KEBA Robot controller

Description

Technical Specifications for IP706

IP706 Dynamic look-and-move system—Here the control structure is hierarchical in which the vision system provides set-point inputs to the joint controllers and so the robot is internally controlled using joint feedback.

•IP706 Direct visual servo control—Here the robot joint controller is eliminated and replaced by a visual servo controller which directly computes the inputs of the joints, and stabilizes the robot using only vision signals. Actually, most implemented VRCs are of the look-and-move type because internal feedback with a high sampling rate provides the visual controller with an accurate axis dynamic model. Also, look-and-move control separates the kinematics singularities of the system from the visual controller, and bypasses the low sampling rates at which the direct visual control can work.

•IP706 Position-based visual robot control (PBVRC)—Here, use is made of features extracted from the image and used together with a geometric model of the target and the available camera model to determine the pose of the target with respect to the camera. Thus, the feedback loop is closed using the error in the estimated pose space.

•IP706 Image-based visual robot control (IBVRC)—Here, direct computation of the control signals is performed using the image features. IBVRC reduces the computational time, does not need image interpretation, and eliminates the errors of sensors’ modeling and camera calibration. But its implementation is more difficult due to the complex nonlinear dynamics of robots.

IP706

[service contact information]

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Email: sales@xiongbagk.cn

Address: Unit 2009, Chuangxiang Center, No.1733, Lvling Road, Siming District, Xiamen

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