Fixed-Camera Visual Servoing of Moving Object

Visual servo control of robots has been recently considered and developed by many researchers. In this paper we have used a fixed camera for obtaining location and orientation of a moving object on a conveyor belt and then tracking the object. Tracking trajectory is obtained using a new event-based real-time path generation. Using the error signal obtained, which is difference between location of moving object and location of end-effector of the custom designed robot, a PID controller is used to track the generated trajectory. All programming problems are accomplished by Mathlab® and Simulik®. Two personal computers are used, one for image processing and other for control and path generation problem. Simulation results are shown to confirm our theory in tracking the object smoothly. Key-Words: Visual servo, path generation, trajectory, event-based.