An intelligent dual mode vision guided robotic system

Industrial robotics have looked to vision systems for flexibility. This promise has largely been unrealized because existing systems are either too slow or too inaccurate. Both visual servoing and traditional look and move are insufficient because visual servoing requires too much bandwidth, and look and move requires very accurate calibration. To mitigate these effects, we have designed a hybrid system. Our hybrid system is composed of a roughly calibrated look-and-move system using a linear approximation, and a gain scheduled PD controller which performs visual servoing. The system performs markedly better than visual servoing or look-and-move techniques in isolation. This system have many potential applications including bin-picking, sorting, and tele-operation.