In dieser Arbeit wird ein Versuchsstand mit einem Leichtbauroboter und einem hochfrequenten Lokalisationssystem vorgestellt, der zur Untersuchung des Regelverhaltens für potentielle Anwendungen im Bereich der roboterassistierten Chirurgie verwendet werden kann. Roboter mit einem hohen Regeltakt sollten für eine geeignete und schnelle Lageregelung ein Lokalisationssystem mit ebenfalls hoher Aktu...

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a single real-world image of the scene. A convolutional neural network is fine-tuned using this dataset to estimate the relative pose between two images of the s...

The “Robotics & Automatic Control Telelab” (RACT) is a remote laboratory on robotics developed at University of Siena, which extends the field of application of the “Automatic Control Telelab” (ACT). This extension consists of adding experiments on a remote robot manipulator. RACT is mainly intended for educational use, and its Matlab-based architecture allows students to easily put in practice...

Abstract—In this paper, we focus on how to control the robot’s end-effector to track an object, meanwhile, to approach it with a desired posture for grasping, which we named as “Approaching Visual Servoing (AVS).” AVS with binocular cameras needs inheritably eye-vergence motion to keep cameras’ sight against the target since approaching motion makes the cameras sight narrow or losing the object...