Position-Based Visual Servoing in Industrial Multirobot Cells Using a Hybrid Camera Configuration

@article{Lippiello2007PositionBasedVS,
  title={Position-Based Visual Servoing in Industrial Multirobot Cells Using a Hybrid Camera Configuration},
  author={Vincenzo Lippiello and Bruno Siciliano and Luigi Villani},
  journal={IEEE Transactions on Robotics},
  year={2007},
  volume={23},
  pages={73-86}
}
This paper deals with the problem of position-based visual servoing in a multiarm robotic cell equipped with a hybrid eye-in-hand/eye-to-hand multicamera system. The proposed approach is based on the real-time estimation of the pose of a target object by using the extended Kalman filter. The data provided by all the cameras are selected by a suitable algorithm on the basis of the prediction of the object self-occlusions, as well as of the mutual occlusions caused by the robot links and tools… CONTINUE READING
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Variable structure PID controller for cooperative eye-in-hand/eye-to-hand visual servoing

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