Visual servo control law design using 2D vision approach, for a 3 DOF robotic system built with LEGO EV3 and a Raspberry Pi

摘要

This paper is framed in the area of mobile robotics and the use of new technologies. The developments were focused on the design and implementation of a visual servo control algorithm, with the control criterion of error evolution, taking the error as the differences between an image target and the image sensed by a camera mounted on a robotic platform. The robotic platform has three degrees of freedom (DOF) and was constructed by using the LEGO Mindstorms robotics kit. The robot movement control (mobile platform and camera) is performed using a single board computer (Raspberry Pi) mounted in the platform, this device computes the control law and process the images. Too, was developed an application for Android system that allows control the robot. It is also possible to watch the streaming video from the camera.