Quality Inspection of Remote Radio Unit (RRU) Power Port Using IBVS

For the quality inspection task of RRU, it is necessary to insert the testing probes into its power and network ports. In this paper, the problem of alignment of robot's end effector with the power port of remote radio unit (RRU) in 4 degrees of freedom (DoF) has been solved. An image based visual servo (IBVS) controller has been designed to perform the alignment task by using the visual features of the power port in image plane. Decoupled features have been selected which eliminate the need to use image jacobian during the control design. This not only reduces the computational cost but also removes the hassle of dealing with image jacobian singularities during the visual servo. The findings have been validated both by performing simulations and designing an experiment which uses an industrial manipulator.