Applications of Machine Vision to Industrial Systems

Abstract

Applications of vision-based industrial robotic systems are rapidly expanding due to the increase in computer processing power and low prices in machine vision hardware. Visual servoing over a network of synchronized cameras is an example where the significance of machine vision and distributed filtering for industrial robotic systems can be seen. A robotic manipulator is considered and a cameras network consisting of multiple vision nodes is assumed to provide the visual information to be used in the control loop. A derivative-free implementation of the Extended Information Filter is used to produce the aggregate state vector of the robot by processing local state estimates coming from the distributed vision nodes. The performance of the considered vision-based control scheme is evaluated through simulation experiments.