Proceedings Paper3D Visual Servo Control System
|Format||Member Price||Non-Member Price|
This paper describes a visually-guided robotic system that tracks a moving object in space. In this project two six-degree-of-freedom robots are involved: an "IBM Clean Room" and a "Puma 562". A video CCD camera is attached to the end effector of the gantry IBM robot. The other robot holds a light source in its gripper. We show how the IBM Robot dynumicull tracks the moving light source in 3D. A personal computer serves as the real time (!) image processor and the controller for the closed loops. The search for the moving object takes place in a small squared window. In this way the computation time is short. Three features are extracted from the images: The change in the object's area, and the two distances (x and y) from the window to the center of the image Using an appropriate controller three signals are produced to directly control the independent X, Y and Z axes of the IBM robot. Several problems are addressed, in particular, the effects of the "digitized" object in the image plane, the control loops, sampling rate, stability and performance. A six minute video tape demonstrates the results of this project.