Research and applications of the hybrid cameras visual servo robot

This paper presents a hybrid cameras visual servo robot system, which combines both Eye-in-hand and Eye-to-hand cameras, to perform the task of picking and precise placing for moving workpieces on conveyor belt. The Eye-to-hand camera is applied to capture images that evaluate the velocity of moving workpieces and detect the position error of robot gripper and workpieces. The precise velocity of workpieces is measured by using visual geometry algorithm and the position error is calculated by the pinhole imaging mode. Since lots of errors, including image processing, structure of robot gripper, calculation of velocity, etc, exist in system, it is necessary to correct the position error between workpieces and robot gripper, so that workpieces are able to be precise placed to expected position. The results show that the proposed hybrid cameras visual servo robot system can grasp and place workpieces effectively.