Vision-Guided Robot Manipulation Predictive Control for Automating Manufacturing

摘要

Increasing demands of flexible automating manufacturing processes made robots with vision systems to be frequently used due to their ability to adapt to new environments and various conditions. This paper presents a visual servoing system for real time picking and placing of dynamic objects. The system is integrated into a manufacturing cell and its structure consists in a CCD camera with SIFT detector, an image based predictive controller and a robot manipulator. Using a Service Oriented Architecture (SOA), the visual servoing system is implemented and different experimental testing of the vision-guided robot predictive control architecture is conducted.