A demonstration of a control method known as visual servoing. A camera is used in the feedback control loop of the manipulator. There are two types:
- Eye-in-hand, where the camera is mounted directly on the manipulator
- Eye-to-hand, where the camera observes the system externally.
I use both the Sawyer from Rethink Robotics, and the UR3 from Universal Robot. A Blackfly S camera (BFS-U3-16S2C-CS) is used to observe the augmented reality (AR) markers. The ar_track_alvar package in Robot Operating System (ROS) detects the relative pose of the board to the robot. I wrote my own feedback control software to follow the board.
