Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light

Visual servoing by means of structured light for plane-to-plane positioning

In this paper we face the problem of positioning a camera attached to the endeffector of a robotic manipulator so that it gets parallel to a planar object. Such problem, so-called plane-to-plane positioning, has been treated for a long time in visual servoing. Our approach is based on linking to the camera a structured light emitter composed of four parallel laser pointers so that its distribut...

Positioning a camera parallel to a plane using dynamic visual servoing

Visual servoing is generally based upon geometrical features. Recent developments were made in the way of a generalization of this approach to dynamic features. The idea is that velocity in the image can be measured without the constraint of having an a priori knowledge of the scene. In this paper, a control law to position a camera mounted on the end eeector of a robot, in such a way the image...

Positioning a Camera Parallel to a Plane Using Dynamic Visual Servoing

Assisted Visual Servoing by Means of Structured Light

Visual measurement of a 3-D plane pose by a cylindrical structured light

camera and an obiect is short. Tlie distortion of renular robot has coped with. Most robotic applications, such as deburring task i n macliining, seam tracking task in welding, and pal t mating in assembly require accurate determination of the position and orientation of a task surface relative to the robot's end effector. In these applications, a 3-D sensor system is usually attached at the ro...