Visual servo control law design using 2D vision approach, for a 3 DOF robotic system built with LEGO EV3 and a Raspberry Pi

Ana Milena Lopez Lopez; Jorge Enrique Ardila Uribe

doi:10.1109/STSIVA.2016.7743360

Visual servo control law design using 2D vision approach, for a 3 DOF robotic system built with LEGO EV3 and a Raspberry Pi

Ana Milena Lopez Lopez
, Jorge Enrique Ardila Uribe

Research output: Chapter in Book/Conference proceeding › Conference and proceedings › peer-review

4 Scopus citations

Abstract

This paper is framed in the area of mobile robotics and the use of new technologies. The developments were focused on the design and implementation of a visual servo control algorithm, with the control criterion of error evolution, taking the error as the differences between an image target and the image sensed by a camera mounted on a robotic platform. The robotic platform has three degrees of freedom (DOF) and was constructed by using the LEGO Mindstorms robotics kit. The robot movement control (mobile platform and camera) is performed using a single board computer (Raspberry Pi) mounted in the platform, this device computes the control law and process the images. Too, was developed an application for Android system that allows control the robot. It is also possible to watch the streaming video from the camera.

Original language	English
Title of host publication	2016 21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016
Editors	Miguel Altuve
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781509037971
DOIs	https://doi.org/10.1109/STSIVA.2016.7743360
State	Published - 14 Nov 2016
Event	21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016 - Bucaramanga, Colombia Duration: 30 Aug 2016 → 2 Sep 2016

Publication series

Name	2016 21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016

Conference

Conference	21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016
Country/Territory	Colombia
City	Bucaramanga
Period	30/08/16 → 2/09/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Access to Document

10.1109/STSIVA.2016.7743360

Cite this

Lopez, A. M. L., & Uribe, J. E. A. (2016). Visual servo control law design using 2D vision approach, for a 3 DOF robotic system built with LEGO EV3 and a Raspberry Pi. In M. Altuve (Ed.), 2016 21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016 Article 7743360 (2016 21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/STSIVA.2016.7743360

Lopez, Ana Milena Lopez ; Uribe, Jorge Enrique Ardila. / Visual servo control law design using 2D vision approach, for a 3 DOF robotic system built with LEGO EV3 and a Raspberry Pi. 2016 21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016. editor / Miguel Altuve. Institute of Electrical and Electronics Engineers Inc., 2016. (2016 21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016).

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abstract = "This paper is framed in the area of mobile robotics and the use of new technologies. The developments were focused on the design and implementation of a visual servo control algorithm, with the control criterion of error evolution, taking the error as the differences between an image target and the image sensed by a camera mounted on a robotic platform. The robotic platform has three degrees of freedom (DOF) and was constructed by using the LEGO Mindstorms robotics kit. The robot movement control (mobile platform and camera) is performed using a single board computer (Raspberry Pi) mounted in the platform, this device computes the control law and process the images. Too, was developed an application for Android system that allows control the robot. It is also possible to watch the streaming video from the camera.",

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Lopez, AML & Uribe, JEA 2016, Visual servo control law design using 2D vision approach, for a 3 DOF robotic system built with LEGO EV3 and a Raspberry Pi. in M Altuve (ed.), 2016 21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016., 7743360, 2016 21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016, Institute of Electrical and Electronics Engineers Inc., 21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016, Bucaramanga, Colombia, 30/08/16. https://doi.org/10.1109/STSIVA.2016.7743360

Visual servo control law design using 2D vision approach, for a 3 DOF robotic system built with LEGO EV3 and a Raspberry Pi. / Lopez, Ana Milena Lopez; Uribe, Jorge Enrique Ardila.
2016 21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016. ed. / Miguel Altuve. Institute of Electrical and Electronics Engineers Inc., 2016. 7743360 (2016 21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016).

Research output: Chapter in Book/Conference proceeding › Conference and proceedings › peer-review

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AB - This paper is framed in the area of mobile robotics and the use of new technologies. The developments were focused on the design and implementation of a visual servo control algorithm, with the control criterion of error evolution, taking the error as the differences between an image target and the image sensed by a camera mounted on a robotic platform. The robotic platform has three degrees of freedom (DOF) and was constructed by using the LEGO Mindstorms robotics kit. The robot movement control (mobile platform and camera) is performed using a single board computer (Raspberry Pi) mounted in the platform, this device computes the control law and process the images. Too, was developed an application for Android system that allows control the robot. It is also possible to watch the streaming video from the camera.

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Lopez AML, Uribe JEA. Visual servo control law design using 2D vision approach, for a 3 DOF robotic system built with LEGO EV3 and a Raspberry Pi. In Altuve M, editor, 2016 21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016. Institute of Electrical and Electronics Engineers Inc. 2016. 7743360. (2016 21st Symposium on Signal Processing, Images and Artificial Vision, STSIVA 2016). doi: 10.1109/STSIVA.2016.7743360

Visual servo control law design using 2D vision approach, for a 3 DOF robotic system built with LEGO EV3 and a Raspberry Pi

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Cite this