Development work: Robot vision platforms
Participants : Fabien Spindler, Romain Tallonneau.
We exploit several experimental platforms to validate our researches in visual servoing and active vision. More precisely, we have two industrial robotic systems built by Afma Robots in the nineties. The first one is a Gantry robot with six degrees of freedom, the other one is a cylindrical robot with four degrees of freedom (see Fig. 2 a). These robots are equipped with cameras mounted on their end effector. These equipments require specific hardware, but also software maintenance actions and new developments in order to make them evolve. Training and assistance of the users, presentation of demonstrations also form part of the daily activities.
This year, two new pneumatic grippers, a vaccum and two parallel fingers gripper, were interfaced with the end-effector Gantry robot. These new accessories allow to develop and validate several algorithms developped for the ANR Psirob RobM@rket project (see Section 8.2.5 ).
Since October, to improve the panel of demonstrations and to highlight our research activities we are developing new robotic vision-based applications. We started by using model-based visual tracking techniques to show how it is possible to combine them in order to pick up and manipulate objects.
This platform is by far the most-used one by Lagadic members (6 papers published in 2009 enclose results validated on it). This year, it was also opened and used by a group of assistant professors and students from the INSA Rennes engineer school for calibration issues.