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Conference Paper
Position-Based Visual Servoing of Multiple Robotic Manipulators: Verification in Gazebo Simulator
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- Authors
- Samyeul Noh, Chanwon Park, Junhee Park
- Issue Date
- 2020-10
- Citation
- International Conference on Information and Communication Technology Convergence (ICTC) 2020, pp.843-846
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- Today, a paradigm in the manufacturing industry has been shifted from mass production to small and custom production. To adapt to today's industrial expectations, this paper presents position-based visual servoing of multiple robotic manipulators. The presented visual servoing consists of two modules: task planning and motion planning. The task planning module manipulates each robotic arm not to collide with each other by distributing a task to them in a systematic manner. The motion planning module employs the MoveIt framework to solve inverse kinematics for each robotic arm so that it moves each end-effector's pose to the desired pose to complete the task. In addition, the module controls a robotic hand to grasp or release a target object. The presented visual servoing has been tested and verified in the Gazebo simulator.
- KSP Keywords
- Motion Planning, Multiple robotic manipulators, Robotic Hand, Task planning, Visual servoing, end-effector, gazebo simulator, inverse kinematics(IK), manufacturing industry, mass production, position-based