Visual object tracking by a camera mounted on a 6DOF industrial robot

In this paper, a visual servoing module based on look and move concept is presented. A Motoman UPJ industrial robot is used to track an object (laser beam projection), which moves within a 2D plane workspace. An industrial controller drives this UPJ robot using non-accessible control architecture. A serial communication protocol, a suitable way to transfer information from and to the robot controller, is used for the proposed visual tracking setup. This setup shows acceptable tracking performance, which is improved by a multi-iteration implementation strategy based on a continuous tracking.