Automatic visual servoing control system for industrial robots in arbitrary work areas based on M-PBVS technique

Abstract

A visual servoing control system implemented in a SCARA robot based on an optimized kinematic algorithm in order to reduce the manufacturing and processing time in arbitrary work areas is presented. The robot uses two cameras for performing the calibration in real-time automatic way and determining the complete workspace and position allowed for the effector based on a novel modification of the Position/pose-based technique without pre-planned task. Finally, the results show that the time for initial calibration is drastically reduced and the control system planning optimal trajectories considering obstacles in the complete workspace.