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We present a distributed control architecture for the integration of an experimental robotic cell with 3D visual servoing. This architecture allows us to control a 6 DOF robot in hard Real-Time and the global experimental system in soft Real-Time. We have developed distributed applications, based on this architecture, for the robot control (whose characteristics permit us to teleoperate the robot), the 3D data acquisition and for an advanced simulation and visualization. These applications, together with the algorithms developed by our computer vision research group, allow a full intelligent robotic manipulation in complex scenes to be made. This can be useful in manufacturing environments where an automated piece manipulation is necessary.

DISTRIBUTED CONTROL SYSTEM OF AN EXPERIMENTAL ROBOTIC CELL WITH 3D VISION