The EPEC Algorithm for Vision Guided Manipulation: Analysis and Validation
This paper describes the simulated performance and experimental validation of a computationally efficient algorithm for improving positioning accuracy of robot arms using low speed feedback from fixed stereo cameras. The algorithm, called End-Effector Position Error Compensation (EPEC) is robust to visual occlusion of the end-effector and does not require high fidelity calibration of either the arm or stereo camera. The algorithm works by calculating an error vector between the locations of a fiducial on the arm's end-effector as predicted by arm kinematics and detected by a stereo camera triangulation. With this knowledge, the commanded target pose is adjusted to compensate for positioning errors. A simulation environment where arbitrary error can be introduced into arm-camera systems is introduced and used to provide an assessment of the performance of the algorithm under both ideal and degraded conditions.