The fourth industrial revolution (industry 4.0) demands high-autonomy and intelligence robotic manipulators. goal is to accomplish autonomous manipulation tasks without human interventions. However, visual pose estimation of target object in 3D space one the critical challenges for robot-object interaction. Incorporating estimated into an control scheme another challenge. In this paper, a deep-...

This paper proposes a sensor-based design methodology in order to Delta robot with guaranteed accuracy performance for dedicated controller. takes into account the of controller process find optimal geometric parameters robot. Three types controllers are envisaged be applied robot, leading three different designs: leg-direction-based visual servoing, line-based servoing and image moment servoin...

The stabilization to a desired pose of a nonholonomic mobile robot, based on visual data from a hand-eye system mounted on it, is considered. Instances of this problem occur in practice during docking or parallel parking maneuvers of such vehicles. In this paper, we investigate the use of visual servoing techniques for their control. After brie y presenting the relevant visual servoing framewor...

In this thesis a visual servoing approach for uncalibrated systems with 6 degrees of freedom (DOF) is evaluated. Assuming weak perspective, the observed motions of the robot end-effector are constrained to affine trans-formations in the image space. This allows us to express the control error directly in terms of an affine transformation in the camera images. By this approach, visual servoing i...

In order to successfully perform visual servoing of robot manipulators the control algorithm must account for the physical limitations of the manipulator. These constraints de ne the robot workspace boundary. Any visual servoing control algorithm must avoid this boundary if stability of motion is to be ensured. In this paper, a method is developed by which a desired object path can be interpola...

The research presented in this paper focuses on high performance visual servoing for controlled positioning on micrometer scale. Visual servoing means that the positioning of a x-y table is performed with a camera instead of encoders and one camera image and image processing should determine the position in the next iteration. With a frame rate of 1000 [fps], a maximum processing time of 1 mill...

-This paper considers the uncalibrated, model free, robot visual servoing as a nonlinear optimization problem in which stochasticity is present due to a noise and there is no analytical form of the objective function. Such (robot) systems are suitable for unknown and unstructure envinronments due to minimal requirements related to calibration and robot kinematic’s parameters. The numerical quas...

This paper concerns the robust tracking of some features extracted from a sequence of images taken with an uncalibrated camera mounted on a mobile robot. Unlike most vision systems, the 3D structure of the observed objects is completely unknown. Thus, position-based visual servoing cannot be used. Similarly, one must be careful when using image-based visual servoing since the depths of the feat...