Tracking Control of a Moving Object for Robokers with Stereo Visual Feedback

This paper presents the visual feedback control of a moving object for robot manipulators. A stereo vision camera detects the pose of the moving object and the estimated pose is used to form the tracking error such that a visual servoing loop is constructed as the eye-in-head system structure of the humanoid robot arms called ´ROBOKER´. Kinematics of the roboker is analyzed and the Cartesian controller is constructed based on kinematics solutions. Experiments arc conducted to show the feasibility of the eye-in-head system implementation.