Visual Servoing for Robotic Assembly

Dynamic Position-Based Visual Servoing of Robotic Manipulators

− This paper discusses dynamic visual servoing and proposes a position-based approach to visual servo control of robotic manipulators. Several dynamic visual servoing control architectures used for position-based are addressed in this paper, in order to motivate the proposed approach. In position-based visual servoing, the features used to control the robot manipulator, actual pose of the objec...

Visually Guided Coordination for Distributed Precision Assembly

This report documents the integration of machine vision into the minifactory environment. Minifactory is an automated factory system being developed at the Microdynamic Systems Laboratory at Carnegie Mellon University and is aimed toward the assembly of small mechatronic devices. Machine vision can aid assembly systems by eliminating the need for complicated part holding jigs, end effectors, an...

Intelligent Visual Servoing for Robotic Control

Simultaneously learning to recognize and control a low-cost robotic arm

In this paper we present a visual servoing method based on a learned mapping between feature space and control space. Using a suitable recognition algorithm, we present and evaluate a complete method that simultaneously learns the appearance and control of a low cost robotic arm. The recognition part is trained using an action precedes perception approach. The novelty of this paper, apart from ...

CAD Model-based Tracking and 3D Visual-based Control for MEMS Microassembly

This paper investigates sequential robotic microassembly for the construction of 3D micro-electro-mechanical systems (MEMS) structures using a 3D visual servoing approach. The previous solutions proposed in the literature for these kinds of problems are based on 2D visual control because of the lack of precise and robust 3D measures from the work scene. In this paper, the relevance of the real-...