Abstract
This research introduces a visual control technique that is employed to direct robots in a range of pick-and-place activities. The utilization of the position-based visual servoing (PBVS) method allows for the estimation of the relative position between the current position of the robot and the position of the item. A real-time visual control algorithm is employed to govern the movements of a six-degrees of freedom (6DOF) robot with the aid of a camera that is positioned on the end effector. This functionality allows the robot to ascertain the precise location of an object and execute the task of grabbing it. The Pose-Based Visual Servoing (PBVS) approach leverages visual data to calculate the precise location and orientation of an object. The utilization of this technique is employed in conjunction with the calibration of a camera eye-in-hand to accomplish this objective.
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Acknowledgment
This research was funded by Vingroup Innovation Foundation (VINIF) under project code VINIF.2023.DA089.
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© 2024 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
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Nguyen, VT., Nguyen, PT., Kieu, XT., Nguyen, T.DL., Khuat, DD. (2024). Real-Time Control Method for a 6-DOF Robot Using an Eye-in-Hand Camera Based on Visual Servoing. In: Nguyen, T.D.L., Dawson, M., Ngoc, L.A., Lam, K.Y. (eds) Proceedings of the International Conference on Intelligent Systems and Networks. ICISN 2024. Lecture Notes in Networks and Systems, vol 1077. Springer, Singapore. https://doi.org/10.1007/978-981-97-5504-2_52
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DOI: https://doi.org/10.1007/978-981-97-5504-2_52
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