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Tridimensional Visual Servoing

Escuela de Ingeniería Eléctrica, Pontificia Universidad Católica de Valparaíso, Chile
P.O. Box 4059, Valparaíso, Chile

Abstract: This paper presents a tridimensional visual servoing that gives the information of the position, height and orientation of several objects presented in the working area of a robot manipulator. With this information, the robot manipulator’s effector can pick and place objects to a specific position. A pair of stereo camera produces the feedback obtaining a particular position of the effector of robot. The servoing implemented is based on vision stereo lateral model. This servoing system is tested experimentally in real time on a Scara Manipulator, including the stereo cameras and image processing using Matlab.

Keywords: Visual Servoing Systems, Robotic Manipulators. Stereo vision, Kinematics control.

Gustavo Schleyer obtained the Civil Electronic Engineering and Master of Science at Pontificia Universidad Católica de Valparaíso, in 2008, Valparaíso, Chile. Actually, he is candidate to PhD. His interest in research are in computer vision, images processing, images segmentation, Robotics and Artificial Intelligence.

Gastón Lefranc graduated as Civil Electrical Engineering from Universidad of Chile, received the Master of Science from Northwestern University, Illinois, USA, in 1979. He is Full Professor at Escuela de Ingeniería Eléctrica, Pontificia Universidad Católica de Valparaíso, Valparaíso, Chile, since 1974. He has more than 110 papers in Conferences and Journals. He has worked more than 20 Research Projects, including UNIDO Project. He has been Chairman of the IEEE Chile Section, Chairman of the IEEE Chilean Chapters on Control, Robotics and SMC; President of ACCA, Asociación Chilena de Control Automático (related with IFAC) y member of IFAC Technical Committee. His interest in research are in mputer vision, ccomputer networks, Flexible Manufacturing Systems FMS, Petri Nets, Robotics including Colony of robots, Artificial Intelligence, Multiagents, Automatic Control and Modelling.

>>Full text
Gustavo SCHLEYER, Gastón LEFRANC, Tridimensional Visual Servoing, Studies in Informatics and Control, ISSN 1220-1766, vol. 18 (3), pp. 271-278, 2009.