Diseño de un esquema de control servo visual para robots 3D basado en potenciales artificiales para la intercepción de múltiples objetos móviles

Abstract

Abstract It is described and developed an experimental-theoretical methodology for avoiding/intercepting movil objects by using servovisual control algorithms in 3D robotic manipulators The technique takes place in the cartesian force domain and is based on stereovision for detection, kalman filter for prediction and artificial potencial fields for evasion and capture Interception: Tracking Prediction Capture (Stereovision) (Kalman Filter) (Artificial Potential Fields) Evasion: Tracking Elusive action (Stereovison) (Artificial Potential Fields)