Visual servoing systems based control of complex autonomous systems serving a P/RML

Abstract

The appearance of random event in autonomous processing systems is the main concern in this paper. The main scope is to embed different visual servoing systems (VSSs) with a processing/reprocessing mechatronics line (P/RML) in order to control different complex autonomous systems (CASs) while servicing the line in the operation of recovery of the pieces that did not pass the quality test. For achieving this objective, two different visual servoing systems are designed, tested and implemented for controlling different wheeled mobile robots (WMRs) equipped with robotic manipulators (RMs). To the first one, called eye in hand, the camcorder is located on the last link of the manipulator, thus the visual servoing system is mobile. To the second one, called eye to hand, the camcorder has a fixed position, usually positioned on a P/RML workstation. This paper is focused on video processing and control of different WMRs equipped with RM while serving the P/RML based on fixed or mobile VSSs.