An experimental setup for visual servoing applications on an industrial robotic cell

An experimental setup for visual servoing applications on an industrial robotic cell is presented in this paper. The setup is composed of two industrial robot manipulators equipped with pneumatic grippers, a vision system and a belt conveyor. The original industrial robot controllers have been replaced by a single PC with software running under a realtime variant of the Linux operative system. A vision-oriented software environment named VESPRO has been developed on a PC running under Windows NT operating system, which allows programming image processing and visual tracking tasks, using one or more cameras. Advanced user interfaces permit fast, safe and reliable prototyping of control schemes based on visual measurements both for the single robots and for the dual-arm robotic cell