Six DOF Stereoscopic Eye-in-Hand Visual Servo System BIBOT

Visual servo control uses the information obtained from the computer vision in a servo loop to control the movement of a robot. This paper presents a prototype robotic BIBOT, low-cost robot for research on visual servo control consisting of a stereo vision system mounted on the end effector of a robot manipulator with 6 degrees of freedom, creating a complete description of the prototype including features, CAD models, kinematic model, simulations and results. We start by reviewing the system of the robot manipulator and vision as independent systems, and finally, describing the integration between the systems mentioned, which results in BIBOT, the final prototype.