Robotic visual servoing in a flexible manufacturing workcell

Abstract

The tracking and grasping of an object is carried out. The position of a robot, which has a camera mounted on its end-effector, is controlled using visual feedback. A static "look-and-move" control structure is implemented. The system includes a vision system, robot, and a workstation. The robot tracks an object on a moving conveyor belt, and then grasps the object while the conveyor belt is still moving.