VISUAL SERVOING FOR ROBOTIC ASSEMBLY

1993 ◽  
pp. 139-164 ◽  
Author(s):  
Brad Nelson ◽  
N. P. Papanikolopoulos ◽  
P. K. Khosla
Keyword(s):  
Visual Servoing ◽  
Robotic Assembly

Robotic visual servoing and robotic assembly tasks

1996 ◽  
Vol 3 (2) ◽  
pp. 23-31 ◽  
Author(s):  
B.J. Nelson ◽  
N.P. Papanikolopoulos ◽  
P.K. Khosla
Keyword(s):  
Visual Servoing ◽  
Robotic Assembly ◽  
Robotic Visual Servoing ◽  
Assembly Tasks

scholarly journals High-precision robotic assembly system using three-dimensional vision

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110270
Author(s):  
Shaohua Yan ◽  
Xian Tao ◽  
De Xu
Keyword(s):  
High Precision ◽  
Visual Servoing ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Image Features ◽  
Robotic Assembly ◽  
Assembly System ◽  
Position Errors ◽  
Network Training ◽  
Three Dimensional Vision

The design of a high-precision robot assembly system is a great challenge. In this article, a robotic assembly system is developed to assemble two components with six degree-of-freedoms in three-dimensional space. It consists of two manipulators, a structured light camera which is mounted on the end-effector aside component A to measure the pose of component B. Firstly, the features of irregular components are extracted based on U-NET network training with few labeled images. Secondly, an algorithm is proposed to calculate the pose of component B based on the image features and the corresponding three-dimensional coordinates on its ellipse surface. Thirdly, the six errors including two position errors and one orientation error in image space, and one position error and two orientation errors in Cartesian space are computed to control the motions of component A to align with component B. The hybrid visual servoing method is used in the control system. The experimental results verify the effectiveness of the designed system.

Alternate Trajectory Determination Using Multimode Automated Robotic Vehicle with Line Following and Object Following Mode

2018 ◽  
Vol 8 (3) ◽  
pp. 46
Author(s):  
Varun Kumar ◽  
Lakshya Gaur ◽  
Arvind Rehalia
Keyword(s):  
Ultrasonic Sensor ◽  
Robotic Assembly ◽  
Voltage Regulator ◽  
Automated Vehicle ◽  
Dc Motors ◽  
Arduino Uno ◽  
Robotic Vehicle ◽  
Line Following ◽  
Selection Of ◽  
Trajectory Determination

In this paper the authors have explained the development of robotic vehicle prepared by them, which operates autonomously and is not controlled by the users, except for selection of modes. The different modes of the automated vehicle are line following, object following and object avoidance with alternate trajectory determination. The complete robotic assembly is mounted on a chassis comprising of Arduino Uno, Servo motors, HC-SRO4 (Ultrasonic sensor), DC motors (Geared), L293D Motor Driver, IR proximity sensors, Voltage Regulator along with castor wheel and two normal wheels.

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