INSTITUT FÜR INFORMATIK UND PRAKTISCHE MATHEMATIK Manipulator and Head Servoing for Tool Handling and Object Inspection

We de ne image-based robot servoing as a continual process of perceptionaction cycles for the task of tool handling or object inspection. Image analysis techniques and control rules are presented as the basic components of a behaviour-based robot system. Our robot hardware consists of a bisight head on a movable platform with several degrees-of-freedom, an articulation manipulator on a stationary platform with a parallel jaw gripper including a hand-mounted single camera, and nally a rotary table. The approaching, assembling, and continual handling of the gripper tool is illustrated. For the purpose of object inspection the head-camera system or the manipulator (carrying the object) are controlled to reach a desired size, resolution and orientation of the depicted object. Manipulator and head servoing is also used for self-calibration, i.e., determining the optical axes, the elds of visibility and the location of the head in the manipulator coordinate system. Finally, the signi cant role of o ine visual demonstration is exempli ed for specifying visual goal situations in robot servoing.