TY - GEN
T1 - Six DOF stereoscopic eye-in-hand visual servo system BIBOT
AU - Gascón B, Rex
AU - Barraza R, Manuel
PY - 2012
Y1 - 2012
N2 - Visual servo control uses the information obtained from the computer vision in a servo loop to control the movement of a robot. This paper presents a prototype robotic BIBOT, low-cost robot for research on visual servo control consisting of a stereo vision system mounted on the end effector of a robot manipulator with 6 degrees of freedom, creating a complete description of the prototype including features, CAD models, kinematic model, simulations and results. We start by reviewing the system of the robot manipulator and vision as independent systems, and finally, describing the integration between the systems mentioned, which results in BIBOT, the final prototype.
AB - Visual servo control uses the information obtained from the computer vision in a servo loop to control the movement of a robot. This paper presents a prototype robotic BIBOT, low-cost robot for research on visual servo control consisting of a stereo vision system mounted on the end effector of a robot manipulator with 6 degrees of freedom, creating a complete description of the prototype including features, CAD models, kinematic model, simulations and results. We start by reviewing the system of the robot manipulator and vision as independent systems, and finally, describing the integration between the systems mentioned, which results in BIBOT, the final prototype.
KW - eye-in-hand
KW - robot manipulator
KW - stereoscopic vision
KW - visual servo control
UR - https://www.scopus.com/pages/publications/84871580834
U2 - 10.1109/SBR-LARS.2012.53
DO - 10.1109/SBR-LARS.2012.53
M3 - Conference contribution
AN - SCOPUS:84871580834
SN - 9780769549064
T3 - Proceedings - 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium, SBR-LARS 2012
SP - 284
EP - 289
BT - Proceedings - 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium, SBR-LARS 2012
T2 - 2012 1st Brazilian Robotics Symposium, SBR 2012 and 9th Latin American Robotics Symposium, LARS 2012
Y2 - 16 October 2012 through 19 October 2012
ER -