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Modelado de sistemas de visión en 2D y 3D: un enfoque hacia el control de robots manipuladores

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Author(s): Maximiliano Bueno López | Marco Arteaga Pérez | Antonio Candea Leite

Journal: Tecnura
ISSN 0123-921X

Volume: 17;
Issue: 37;
Start page: 12;
Date: 2013;
Original page

Keywords: visual servoing | modelling | robotic | vision 2D and 3D.

ABSTRACT
Visual servoing of robot manipulators has been an evolving issue in recent years, especially in applications where the environment is not structured or where access is difficult for operators. To design these controllers, previous simulations are important to adjust parameters or implement a behavioral approach. In this paper we present two different models of vision systems. The models focus on applications in the field of manipulator-robot control. The modeling of video cameras is obtained by using perspective projections. To validate the models, two servo visual controllers in 2D and 3D are simulated.

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