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Authors: Adrian Burlacu ; Copot Cosmin ; Andrei Panainte ; Carlos Pascal and Corneliu Lazar

Affiliation: ”Gheorghe Asachi” Technical University of Iasi, Romania

Keyword(s): Visual servoing, Real-time implementation, Feature points, Manipulator robot.

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Real-Time Vision ; Visually Guided Robotics

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.

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Paper citation in several formats:
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 (VISIGRAPP 2011) - VISAPP; ISBN 978-989-8425-47-8; ISSN 2184-4321, SciTePress, pages 502-510. DOI: 10.5220/0003367005020510

@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 (VISIGRAPP 2011) - VISAPP},
year={2011},
pages={502-510},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003367005020510},
isbn={978-989-8425-47-8},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the International Conference on Computer Vision Theory and Applications (VISIGRAPP 2011) - VISAPP
TI - REAL-TIME IMAGE BASED VISUAL SERVOING ARCHITECTURE FOR MANIPULATOR ROBOTS
SN - 978-989-8425-47-8
IS - 2184-4321
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
PB - SciTePress

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