Visual feedback trajectory planning for object handling and obstacle avoidance

In this article a visual feedback control system implementation is presented. The proposed system integrates a trajectory planning method into the controller of a five-degree-of-freedom manipulator aiming to simplify object handling and obstacle avoidance. The system aims the intelligent handling of several parts, generating obstacle free paths whenever possible. The workspace information is provided by a redundant vision system: a RGB camera placed over the handler actuator and a fixed RGB-D camera.