Robot-arm pick and place behavior programming system using visual perception

This paper presents the programming of a robot-arm system for carrying out flexible pick and place behavior using visual perception. Object manipulation from visual data involves determining the pose of the object with respect to the manipulator. Taking into account that visual positioning is an ill-posed problem due to the perspective projection, this system uses a camera and a sensor distance, and both of them mounted on a robot-arm tool adapter for locating (positioning and orienting) objects. On the other hand, this programming system is modular, composed of different dynamic link libraries to be independent with the hardware and offers a friendly graphic interface where the user can define pick and place object locations on the image space.