Direct Visual Servoing to Track Trajectories in Human-Robot Cooperation | Zendy

Jorge Pomares | Zendy; Juan Antonio Corrales Ramón | Zendy; Gabriel J. García | Zendy; Fernando Torres | Zendy

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Direct Visual Servoing to Track Trajectories in Human-Robot Cooperation

Author(s) -

Jorge Pomares,

Juan Antonio Corrales Ramón,

Gabriel J. García,

Fernando Torres

Publication year - 2011

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/45680

Subject(s) - visual servoing , computer science , workspace , robot , robot end effector , computer vision , artificial intelligence , robot control , trajectory , track (disk drive) , visual control , mobile robot , physics , astronomy , operating system

This paper describes a dynamic image-based control system to guide two coupled robots. The first robot is a Mitsubishi PA-10 robotic manipulator which has a second mini-robot with 3 degrees of freedom (DOF) attached at its end-effector. The vision system used for the guidance of both robots is composed of a camera at the end-effector of the mini-robot. The paper presents a new method to perform the mini-robot guidance using dynamic control to track a previous generated image trajectory. The mini-robot performs the tracking in a workspace in cooperation with a human operator. Therefore, the proposed visual control is combined with virtual visual servoing to perform a safety behavior

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