Next: Mobile Robot Grasping
One of the applications of the system is in robotic grasping. Here, we
assume that a suitable grasp is determined off-line given the object.
This is not a very unrealistic assumption since in a case of simple,
box-like objects, the number of suitable grasp is low.
Fig. shows a sequence of a 6-DOF visual control (from
left to right): from an arbitrary starting position, the end-effector
is controlled to a predefined reference position with respect to the
target object. When the object starts moving, the visual system tracks
the pose of the object. The robot is then controlled in a position
based framework to remain a constant pose between the gripper and the
object frame. In this case, a stand alone camera system was used.