Design and Control of Three-Robot Visual Servoing Mechatronics System

The designed and built cooperating visual servoing robotic consists of three robots that follow special procedure to catch an object with a predefined color somewhere in the robot workspace. The robotic set consists of a hand robot and two eye robots; two eye robots have been designed and made to see the environment and the hand robot has been designed and made to catch the object. The location of the object in the space is found according to the view angles of the eye robots and then the hand robot moves and catches the object. The seven DOF mechatronics system is controlled through Matlab v6 M-file. In order to connect to the cameras and see the environment, Matlab image acquisition Toolbox has been utilized. After the software receives each frame from one of the cameras, it analyzes the frame in image processing unit and finds the object´s position in the frame. Then, it controls two eye robots in a way such that the object is followed, and using the geometry, it finds the object´s position and drives the hand robot´s wrist to the object´s position in the space in order to catch it