Visual Servoing System for Local Robot Control in a Flexible Assembly Line

摘要

The paper presents a solution for visual servoing problem that is implemented on a robotic arm from an industrial flexible assembly line. This line respects the Industry 4.0 paradigm, thus having a modular structure consisting of five stations. Each station includes a Programmable Logic Controller equipment for local control and communication modules for connection with other stations. The paper is focused on the design and implementation of the visual servoing system which ensures the line flexibility. The experimental results validate the system functionality and indicate significant performances.