A testbed for robotic visual servoing and catching of moving objects

Author

Fernandes, Dinis G. ; Lima, Pedro U.

Author_Institution

Inst. de Sistemas e Robotica, Inst. Superior Tecnico, Lisbon, Portugal

Volume

2

fYear

1998

fDate

1998

Firstpage

475

Abstract

This paper describes an experimental testbed, suitable for experiments on visual servoing and catching of moving objects by a robotic manipulator, which allows the implementation of different control architectures. This testbed is composed by: (1) a vision system responsible for object following and for the real-time computation of the parameters characterizing the object motion, (2) a system devoted to the prediction of the object motion, (3) a manipulator control system suitable for the object interception and catching tasks. An application is presented, consisting of the catching, by a Puma 560 manipulator, of ping-pong balls rolling on a table

Keywords

industrial manipulators; manipulator dynamics; object detection; real-time systems; robot vision; servomechanisms; Puma 560 manipulator; control architectures; moving object catching; object following; object interception; prediction; real-time computation; robotic manipulator; robotic visual servoing; vision system; Computer architecture; Computer vision; Control systems; Machine vision; Manipulators; Motion control; Real time systems; Robots; System testing; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Circuits and Systems, 1998 IEEE International Conference on

Conference_Location

Lisboa

Print_ISBN

0-7803-5008-1

Type

conf

DOI

10.1109/ICECS.1998.814924

Filename

814924