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Modeling, Simulation and Implementation of Visual Servoing for a 6-DOF Industrial Robot


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DOI: https://doi.org/10.15866/iremos.v16i6.23662

Abstract


Visual servoing involves controlling robotic systems in a closed loop using vision sensors. A camera, strategically positioned, captures information about the pose of the robot's end effector and the target pose. This control law utilizes the gathered information to calculate the image feature error between the current and final poses. The error then guides the control law in generating the robot velocity screw. Visual feedback, as a technology, excels in processing vast amounts of data from non-contact sensors. This rich dataset proves invaluable for decision-making in control systems. The applications of visual servoing span across industrial, medical, and automotive sectors. The focus of this paper is to simulate and implement visual feedback using a 6-degree-of-freedom industrial robot, particularly for pick-and-place applications. The article presents kinematic models of the robot, both forward and inverse, along with simulations in MATLAB. Experimental evaluation with an industrial robot validates the results.
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Keywords


Robot Visual Servoing; Machine Vision; Forward Kinematic Model; Inverse Kinematic Model; File Transfer Protocol; IBVS

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References


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