Multi-Camera Based Robot Visual Servoing System

摘要

A multi-camera based robot visual servoing system is proposed. It consists of a puma 562 robot manipulator with a camera attached on the end-effector and an active stereovision rig over the head of the robot manipulator. The models of camera-manipulator of the visual servoing system are derived. Simulations are conducted in support of the theoretical analysis. A visual servoing system is constructed by real robot platform