Target specification error optimal camera configuration for vision-based robotics

Applications of vision based remotely operated robotic systems range from planetary exploration to hazardous waste remediation, For space applications, where communication lime-lags are large, the target selection and robot positioning tasks may be performed sequentially, differing from conventional tele-robotic maneuvers. For these point-and-move systems, the desired target must be defined in the image planes of the cameras either by an operator or through image processing software. Ambiguity of the target specification will naturally lead to end-effector positioning errors. In this payer, the target specification error covariance is shown to transform linearly to the end-effector positioning error. In addition, ii methodology for target specification error optimal estimation of camera view parameters of a vision based robotic system is presented. A cost function is examined based on minimizing the end-effector error covariance matrix. Simulation and experimental results are presented.