Cámara Virtual de Referencia: Una Aproximación para el Guiado Combinado de Robots Manipuladores mediante una Única Cámara

This paper presents the modeling, design and visual control of a 3 degrees of freedom joint structure with an eye-in-hand camera. For the structure guidance, the paper presents a new direct visual servoing strategy that allows the tracking of time-independent paths defined in the image space. This joint structure is attached at the end of a robotic manipulator Mitsubishi PA-10. This last robot will be applied to manipulation tasks in which a fixed camera cannot be used. To avoid this problem, the joint structure positions the camera following the path previously established that provides a proper visualization of the task. The defined control strategy is able, not only to make the guidance of the joint structure, but also to guide the robot manipulator using the extracted visual features. To do this, we have defined the concept of virtual reference camera, which simulates a real camera at the end of the manipulator. This virtual camera allows the manipulator guidance by using a classical image based visual servoing system.