Visual Servoing Of A Multi-Robotic System For Manipulation Tasks

This paper describes the visual servo control of a multi-robot system composed of a Mitsubishi PA10 robot (main robot) and a 3 degrees of freedom (DOF) mini-robot coupled to the main robot. The visual system composed of a single camera is located at the end-effector of the mini-robot. The acquired images are employed to guide the mini-robot in order to improve the scene visibility. Furthermore, these images are also used to guide the main robot. The paper also describes the main issues about the modelling and construction of the mini-robot.