Autonomous mobile manipulator using visual servoing

The purpose of this article is to present a method for robot autonomy, and contribute to the research on robots. The processed images are used for the autonomous operation of both AGV (Automated Guided Vehicle) and manipulator, from which robot autonomy can be concretely considered. However, we encountered problems in that the program of manipulator stopped if the manipulator over-rode it's operating area, or because of disturbance caused by using a single camera. To resolve these problems, we propose improvements in method of setting camera, program, and preventing the disturbance by new image processing technique. Based on our results, we can aim at to autonomy in wide space, in preparation for upgrade to practical application.