6R robots; how to guide and test them by vision?

Abstract

The aim of visual servoing is to control robots by using the data obtained through vision. In this article, Feature-based and Position-based methods of visual servoing are used in visual servoing simulator of a 6R robot. In this simulator, three cameras were used simultaneously. The camera which is installed as eye-in-hand on the end-effector of the robot is used for visual servoing in a Feature-based method. The target object is recognized according to its characteristics and the robot is directed toward the object in compliance with an algorithm similar to the function of human's eyes. Then, the function and accuracy of the operation of the robot are examined through Position-based visual servoing method using two cameras installed as eye-to-hand in the environment. Finally, the obtained results are tested under ANSI-RIA R15.05-2 standard. © 2008 Springer-Verlag.