Direct Visual Servoing to Track Trajectories in Human-Robot Cooperation

International Journal of Advanced Robotic Systems

关键词: Visual servoing;    cooperating robots;    dynamic control;   

DOI  :  10.5772/45680

学科分类：自动化工程

来源: InTech

【 摘 要 】

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.

【 授权许可】

CC BY