Simulation of Visual Servo Control on CRS Catalyst-5t Robot System

Document Type : Original Article

Authors

1 Mechatronics Engineering Department, Ain Shams University, Cairo, Egypt.

2 Faculty of computer & information sciences, Ain Shams University, Cairo, Egypt

3 Mechatronics Engineering Department, October 6 University, Cairo, Egypt

Abstract

This paper presents the position based visual servoing (PBVS) control system which govern the motion of the manipulator with an eye in hand configuration. The main core of the PBVS control scheme is the pose estimation process in which the relative pose (position and orientation) of the object with respect to the camera mounted on end-effector was estimated by two techniques (Classic POSIT and Kalman filter). CRS Catalyst-5t robot system has been selected for setting up the PBVS control system.  The simulation software program has been built to evaluate the success of the simulated robot vision system in performing the required visual servoing tasks using the designed position based control scheme.

Keywords

Main Subjects

Scientific Journal of October 6 University
Volume 3, Issue 1
January 2017
Pages 51-58

Files

Share

How to cite

Statistics