Abstract
In this paper, a visual servoing control enhanced by an obstacle avoidance strategy using kinematics redundancy has been developed and tested on Baxter robot. A Point Grey Bumblebee2 stereo camera is used to obtain the 3D point cloud of a target object, which is then utilized to manipulate the closely coupled dual arms of Baxter robot. The object tracking task allocation between two arms has been developed by identifying workspaces of the dual arms and tracing the object location in a convex hull of the workspace. By employment of a simulated artificial robot as a parallel system as well as a task switching weight factor, the actual robot is able to restore back to the natural pose smoothly in the absence of the obstacle. Two sets of experiments carried out demonstrate the effectiveness of the developed servoing control method.
This work is supported in part by EPSRC grants EP/L026856/1 and EP/J004561/1,Guangdong Provincial Natural Science Foundation of China under Grant 2014A030313266 and National Natural Science Foundation (NNSF) of China under Grants 61473120 and 61473038.
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Yang, C., Amarjyoti, S., Wang, X., Li, Z., Ma, H., Su, C.Y. (2015). Visual Servoing Control of Baxter Robot Arms with Obstacle Avoidance Using Kinematic Redundancy. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9244. Springer, Cham. https://doi.org/10.1007/978-3-319-22879-2_52
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DOI: https://doi.org/10.1007/978-3-319-22879-2_52
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