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Visual Servo Control of Robot Grasping

Chapter
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 10)

Abstract

This chapter describes the basic principles and methods for visual servo control of robot manipulators in grasping tasks, proposing implementing solutions with multitasking robot-vision controllers. Guidance vision is introduced as an advanced motion control method, which provides flexibility when integrating robots in manufacturing cells with unstructured environment and in line quality inspection. Two important system architectures are analyzed: dynamic look-and-move systems (open loop robot-vision architectures), and direct visual servoing systems (closed-loop robot-vision architectures). The generic task analyzed in this chapter is the visual tracking of material flows with fixed and mobile cameras for robot grasping from stationary and moving scenes. Novel contributions are included with respect to modeling the grasping style, robot guidance from mobile, arm-mounted cameras, and authorizing collision-free object grasping based on real-time fingerprint evaluation.

Keywords

Robot grasping control Guidance vision Visual servoing EOL ECL 

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Copyright information

© Springer-Verlag London 2013

Authors and Affiliations

  1. 1.Centre of Research in Robotics CIMRUniversity Politehnica of BucharestBucharestRomania

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