Fixed-camera visual servoing of moving object using an event-based path generation

Visual servo control of robots has been recently considered and developed by many researchers. In this paper we have used a fixed camera for obtaining location and orientation of a moving object on a conveyor belt and then tracking the object. Tracking trajectory is obtained using a new event-based real-time path generation. Using the error signal obtained, which is difference between location of moving object and location of end-effector of the custom designed robot, a PID controller is used to track the generated trajectory. All programming problems are accomplished by Mathlab® and Simulik®. Two personal computers are used, one for image processing and other for control and path generation problem. Simulation results are shown to confirm our theory in tracking the object smoothly.