Diseño de una mini-cámara motorizada para el seguimiento de objetos

Comunicación presentada en las XXIX Jornadas de Automática, Tarragona, 3-5 Septiembre 2008.En este artículo se presenta un mini-sistema de visión basado en una cámara CMOS inalámbrica motorizada que permite realizar el seguimiento de objetivos móviles. Este sistema emplea características de color e histogramas para detectar el objeto presente en la imagen con un bajo coste computacional. La novedad de este trabajo reside en la flexibilidad del sistema diseñado para ser incorporado en aplicaciones que empleen mini-robots donde se requieren especificaciones de bajo peso y pequeñas dimensiones, sin mermar la libertad de movimientos de los robots en sistemas de sensorizado.Este trabajo ha sido financiado por el Ministerio de Educación y Ciencia (MEC) mediante la beca FPU AP2005-1458 y el proyecto DPI2005-06222

A new time-independent image path tracker to guide robots using visual servoing

In this paper, a new method to track image trajectories by visual servoing is proposed. This method solves the problem of the previous proposed time-independent tracking systems based on visual servoing. With the proposed method, the robot can track a previously generated trajectory affording a correct tracking not only in the image but also in the 3D space. This new method presents several improvements over the previous ones such as the possibility of specifying the desired tracking velocity, a less oscillating behavior or a correct tracking in the 3D space when high velocities are used. In order to demonstrate the correct behavior of the visual servoing system, an eye-in-hand camera system is used.Funded by the Spanish MEC project "Diseño, Implementación y Experimentación de Escenarios de Manipulación Inteligentes para Aplicaciones de Ensamblado y Desensamblado Automático"

Survey of Visual and Force/Tactile Control of Robots for Physical Interaction in Spain

Sensors provide robotic systems with the information required to perceive the changes that happen in unstructured environments and modify their actions accordingly. The robotic controllers which process and analyze this sensory information are usually based on three types of sensors (visual, force/torque and tactile) which identify the most widespread robotic control strategies: visual servoing control, force control and tactile control. This paper presents a detailed review on the sensor architectures, algorithmic techniques and applications which have been developed by Spanish researchers in order to implement these mono-sensor and multi-sensor controllers which combine several sensors