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Resumen

 

POSITION BASED VISUAL SERVOING OF A ROBOTIC ARM RV2AJ IMPLEMENTED IN MATLAB AND JAVA

CONTROL VISUAL BASADO EN POSICIÓN DE UN BRAZO ROBÓTICO RV2AJ IMPLEMENTADO EN MATLAB Y JAVA

MSc. José Gabriel Hoyos Gutiérrez
MSc. Jaiber Evelio Cardona
Ing. Luis Miguel Capacho
PhD. Flavio Prieto
PhD. Marco Pérez Cisneros

Abstract: Visual servoing is a control method that involves artificial vision and robotics;
it allows placing the end effector near to an object by just looking it with one or more
cameras. In this work a position based visual servoing of a RV2AJ robotic arm is
presented, implementation and results are included.

Keywords: Visual servoing, stereo Vision, Robotic arm control.

Resumen: El control visual es un método de control que involucra visión artificial y
robótica, el permite que un robot posicione su efector final cerca a un objeto con solo
captarlo con una o más cámaras, en este trabajo se presenta la implementación y
resultados reales de un sistema de control visual de un brazo robótico RV2AJ usando
visión estéreo, con las cámaras mirando el robot.

Palabras clave: Control visual, visión estéreo, Control de Manipulador robótico.