This paper presents the robot vision control schemes using Extended Kalman Filter (EKF) method for the slender bar placement in the appearance of obstacles during robot movement. The vision system model used for this study involves the six camera parameters(C1~C6). In order to develop the robot vision control scheme, first, the six parameters are estimated. Then, based on the estimated parameters, the robot‘s joint angles are estimated for the slender bar placement. Especially, robot trajectory caused by obstacles is divided into three obstacle regions, which are beginning region, middle region and near target region. Finally, the effects of number of obstacles using the proposed robot"s vision control schemes are investigated in each obstacle region by performing experiments of the slender bar placement.
