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Real-time 3D visual servoing of an industrial cutting robot manipulator

Moulay Akhloufi
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Abstract - This work presents an industrial 3D vision system for real-time correction of a cutting robot path. The system uses stereo vision in order to compute 3D coordinates of reference targets. These positions are then used to compute the transformation necessary for the robot trajectory correction. A distance matrix score scheme is used in order to handle the presence of occlusions and outliers during the stereo matching process. A simple and effective Hand-Eye calibration technique is introduced; it exploits the 3D information available from stereo cameras to solve the Hand-Eye calibration problem. The proposed system achieves high performances.

Bibtex:

@inproceedings{Akhloufi793,
author    = { Moulay Akhloufi },
title     = { Real-time 3D visual servoing of an industrial cutting robot manipulator },
booktitle = { International Conference on Control, Automation, Robotics and Vision (ICCARV 2009) },
volume    = { 60 },
series    = { Proceedings of WASET },
pages     = { 432-436 },
address   = { Bangkok, Thailand },
year      = { 2009 },
month     = { December },
ISBN      = { ISSN: 2070-3724 },
keywords  = { 3D vision, stereo, Hand-Eye calibration, robot visual servoing. },
language  = { English },
web       = { http://www.waset.org/journals/waset/v60/v60-71.pdf }
}

Last modification: 2010/02/21 by akhloufi

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