Automatic robotic tasks in unstructured environments using an image path tracker

Abstract

This paper describes a new method to perform automatic tasks with a robot in an unstructured environment. A task to replace a blown light bulb in a streetlamp is described to show that this method works properly. In order to perform this task correctly, the robot is positioned by tracking secure previously defined paths. The robot, using an eye-in-hand configuration on a visual servoing scheme and a force sensor, is able to interact with its environment due to the fact that the path tracking is performed with time-independent behaviour. The desired path is expressed in the image space. However, the proposed method obtains a correct tracking not only in the image, but also in the 3D space. This method solves the problems of the previously proposed time-independent tracking systems based on visual servoing, such as the specification of the desired tracking velocity, less oscillating behaviour and a correct tracking in the 3D space when high velocities are used. The experiments shown in this paper demonstrate the necessity of time-independent behaviour in tracking and the correct performance of the system.