Authors:
Andrés S. Vázquez
1
;
Antonio Adán
1
;
Roberto Torres
1
and
Carlos Cerrada
2
Affiliations:
1
Escuela Superior de Informática, UCLM, Spain
;
2
Escuela Técnica Superior de Ingenieros Industriales, UNED, Spain
Keyword(s):
Distributed Robot Control, Vision 3D, Industrial Robots, Manufacturing environments.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Network Robotics
;
Robotics and Automation
;
Telerobotics and Teleoperation
;
Vision, Recognition and Reconstruction
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.