Abstract
In this paper, a position-based visual servo control scheme for a bottle packaging process using the ScorBot-ER-4U robot manipulator is proposed. The control scheme considers the eye-to-hand configuration and is based on the kinematic model of the manipulator robot and the perspective projection model of the vision camera (Pinhole Model). The proposed scheme was evaluated on a virtual environment developed in the Unity3D graphics engine; and experimentally with the ScorBot-ER-4U manipulator robot and the ZED 2 stereo vision camera. Finally, it is concluded that the results obtained by simulation and experimentally show that the control errors converge to zero asymptotically.
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The authors would like to thank the Universidad de las Fuerzas Armadas ESPE, and to the ARSI Research Group for their support in developing this work.
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Guilcazo, C.P., Nuñez, J.S., Ortiz, J.S., Andaluz, V.H. (2023). Robot Manipulator Applied to Bottle Filling Processes: An Approach in the Teaching-Learning Process. In: Arai, K. (eds) Proceedings of the Future Technologies Conference (FTC) 2023, Volume 1. FTC 2023. Lecture Notes in Networks and Systems, vol 813. Springer, Cham. https://doi.org/10.1007/978-3-031-47454-5_4
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