REAL-TIME IMAGE BASED VISUAL SERVOING ARCHITECTURE FOR MANIPULATOR ROBOTS

Adrian Burlacu, Copot Cosmin, Andrei Panainte, Carlos Pascal, Corneliu Lazar

Abstract

The necessity of designing flexible and versatile systems is one of the most current trends in robotic research. Including visual servoing techniques in an existing robotic system is a very challenging task. In this paper a solution for extending the capabilities of a 6 d.o.f manipulator robot, for visual servoing system development, is presented. An image-based control architecture is designed and a real-time implementation on an ABB robot is developed. The image acquisition and processing, toghether with the computing of the image-based control law were implemented in Matlab. A new type of robot driving interface that links the robots’ controller with Matlab environment is proposed. The robustness and stability of the feature point based control laws are tested in multiple experiments. Experimental results revealed very good performances for the real-time visual servoing system.

References

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Paper Citation


in Harvard Style

Burlacu A., Cosmin C., Panainte A., Pascal C. and Lazar C. (2011). REAL-TIME IMAGE BASED VISUAL SERVOING ARCHITECTURE FOR MANIPULATOR ROBOTS . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011) ISBN 978-989-8425-47-8, pages 502-510. DOI: 10.5220/0003367005020510


in Bibtex Style

@conference{visapp11,
author={Adrian Burlacu and Copot Cosmin and Andrei Panainte and Carlos Pascal and Corneliu Lazar},
title={REAL-TIME IMAGE BASED VISUAL SERVOING ARCHITECTURE FOR MANIPULATOR ROBOTS},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011)},
year={2011},
pages={502-510},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003367005020510},
isbn={978-989-8425-47-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011)
TI - REAL-TIME IMAGE BASED VISUAL SERVOING ARCHITECTURE FOR MANIPULATOR ROBOTS
SN - 978-989-8425-47-8
AU - Burlacu A.
AU - Cosmin C.
AU - Panainte A.
AU - Pascal C.
AU - Lazar C.
PY - 2011
SP - 502
EP - 510
DO - 10.5220/0003367005020510