Camera Placement Evaluation for Visual Servo Controlled Robotics

Author(s):  
Magnus H. Rognvaldsson ◽  
Gary McMurray ◽  
Wayne Daley ◽  
Paul M. Griffin

Abstract The performance of a vision system for a robot using visual servo control is very dependent upon the placement of the camera. The placement on robot attached positions other than at the end-effector of the robot manipulator has generally not been considered. In this paper we examine the practical issues for different placements of the camera on the robot manipulator for the purpose of visual servo control. An animated computer model was developed to aid in the evaluation of various vision sensor placements. We present the results of the analysis and make recommendations.

Author(s):  
Ghananeel Rotithor ◽  
Ashwin P. Dani

Abstract Combining perception feedback control with learning-based open-loop motion generation for the robot’s end-effector control is an attractive solution for many robotic manufacturing tasks. For instance, while performing a peg-in-the-hole or an insertion task when the hole or the recipient part is not visible in the eye-in-the-hand camera, an open-loop learning-based motion primitive method can be used to generate end-effector path. Once the recipient part is in the field of view (FOV), visual servo control can be used to control the motion of the robot. Inspired by such applications, this paper presents a control scheme that switches between Dynamic Movement Primitives (DMPs) and Image-based Visual Servo (IBVS) control combining end-effector control with perception-based feedback control. A simulation result is performed that switches the controller between DMP and IBVS to verify the performance of the proposed control methodology.


2002 ◽  
Vol 35 (1) ◽  
pp. 485-490
Author(s):  
N. García ◽  
G. Mamani ◽  
O. Reinoso ◽  
O. Nasisi ◽  
R. Aracil ◽  
...  

2004 ◽  
Author(s):  
J. Chen ◽  
D. M. Dason ◽  
W. E. Dixon ◽  
V. K. Chitrakaran

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