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T. Varhegyi, M. Melik-Merkumians, M. Steinegger, G. Halmetschlager, G. Schitter:
"A Visual Servoing Approach for a Six Degrees-of-Freedom Industrial Robot by RGB-D Sensing";
Vortrag: OAGM & ARW 2017 Joint Workshop on "Vision, Automation and Robotics", Wien; 10.05.2017 - 12.05.2017; in: "Proceedings of the OAGM&ARW Joint Workshop Vision, Automation and Robotics", Verlag der Technischen Universität Graz, (2017), ISBN: 978-3-85125-524-9; S. 81 - 86.

A visual servoing approach is presented that uses
depth images for robot-pose estimation utilizing a marker-
less solution. By matching a predefined robot model to a
captured depth image for each robot link, utilizing an appro-
priate approximation method like the Iterative Closest Point
(ICP) algorithm, the robot´s joint pose can be estimated.
The a-priori knowledge of the robot configuration, alignment,
and its environment enables a joint pose manipulation by
a visual servoed system with potential to collision detection
and avoidance. By the use of two RGB-D cameras a more
accurate matching of the robot´s links is feasible while avoiding
occlusions. The modeled links are coupled as a kinematic chain
by the Denavit-Hartenberg convention, and are prevented from
divergence during the matching phase by the implementation
of an algorithm for joint pose dependency. The required joint
orientation of the robot is calculated by the ICP algorithm
to perform a pose correction until its point cloud align with
the model again. First tests with two structured light cameras
indicated that the recognition of the robot´s joint positions
brings good results but currently only for slow motion tasks.

visual servoing / rgb-d / industrial robot

http://dx.doi.org/10.3217/978-3-85125-524-9