DISTRIBUTED CONTROL SYSTEM OF AN EXPERIMENTAL ROBOTIC CELL WITH 3D VISION

Andrés S. Vázquez, Antonio Adán, Roberto Torres, Carlos Cerrada

Abstract

We present a distributed control architecture for the integration of an experimental robotic cell with 3D visual servoing. This architecture allows us to control a 6 DOF robot in hard Real-Time and the global experimental system in soft Real-Time. We have developed distributed applications, based on this architecture, for the robot control (whose characteristics permit us to teleoperate the robot), the 3D data acquisition and for an advanced simulation and visualization. These applications, together with the algorithms developed by our computer vision research group, allow a full intelligent robotic manipulation in complex scenes to be made. This can be useful in manufacturing environments where an automated piece manipulation is necessary.

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Paper Citation


in Harvard Style

S. Vázquez A., Adán A., Torres R. and Cerrada C. (2006). DISTRIBUTED CONTROL SYSTEM OF AN EXPERIMENTAL ROBOTIC CELL WITH 3D VISION . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 508-511. DOI: 10.5220/0001210305080511


in Bibtex Style

@conference{icinco06,
author={Andrés S. Vázquez and Antonio Adán and Roberto Torres and Carlos Cerrada},
title={DISTRIBUTED CONTROL SYSTEM OF AN EXPERIMENTAL ROBOTIC CELL WITH 3D VISION},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={508-511},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001210305080511},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DISTRIBUTED CONTROL SYSTEM OF AN EXPERIMENTAL ROBOTIC CELL WITH 3D VISION
SN - 978-972-8865-60-3
AU - S. Vázquez A.
AU - Adán A.
AU - Torres R.
AU - Cerrada C.
PY - 2006
SP - 508
EP - 511
DO - 10.5220/0001210305080511