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image based visual servoing for robot positioning tasks

MECCANICA 2008年第3期43卷 291-305页

作者： Fioravanti, Duccio Allotta, Benedetto Rindi, Andrea Univ Florence Dept Energet Florence Italy

visual servoing has become a popular paradigm for the control of complex robotic systems: this sensor based approach exploits the image informations provided by one ore more cameras in a feedback control loop to drive the system to the desired configuration. Here authors will refers to a monocular system where the camera is mounted on the end effector of a 6-DOF manipulator. Among different visual servoing approaches image based visual servoing (IBVS) has been the most investigated in the literature because of its nice properties of robustness with respect to both robot modeling and camera calibration errors: in IBVS the control loop is in fact directly closed in the image;moreover IBVS doesn't require the knowledge of the target/scene model (model-free approach). Despite its advantages IBVS may be affected by singularity and local minima problems of the control law: these drawbacks arise especially when the initial and the goal camera images respectively corresponding to the actual and desired system configurations are very different (i.e for large system displacements). To overcome these problems an image path planning can be exploited to ensure system convergence. In this paper author presents an off-line image path planning that can be used to execute system positioning task also in presence of large camera displacements: planning trajectories has been developed such as to make the robot end effector move on a 3D helix, connecting the initial and the desired arm configuration, by generating feasible robot twist-screws and keeping the target in the image field of view. During control execution also 3D target informations are retrieved through an adaptive estimation law. Both simulations and experimental results show the feasibility of the proposed approach.

关键词： image based visual servoing path planning robot control mechanics and machines

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image based visual servoing of a 7 DOF Robot Manipulator Using a Distributed Fuzzy Proportional Controller

Image Based Visual Servoing of a 7 DOF Robot Manipulator Usi...

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2010 IEEE World Congress on Computational Intelligence

作者： Siradjuddin, Indrazno Behera, Laxmidhar McGinnity, T. M. Coleman, Sonya Univ Ulster ISRC Coleraine BT52 1SA Londonderry North Ireland

ISBN: (纸本)9781424469208

This paper presents a distributed fuzzy proportional control system for a vision guided redundant robot manipulator. Firstly, the Takagi Sugeno (TS) fuzzy algorithm is used to model analytical image based visual servoing (IBVS) using shape moments by offline learning. This control method is applied to an uncalibrated robotic system with eye-in-hand visual feedback. The system is able to track a moving object through a variety of motions and maintain the object's image features in a desired position in the image plane without a priori knowledge of the robot kinematic, camera calibration and inverse Jacobian. The experimental results of both static and moving targets using the 7 DOF PowerCube manipulator from Amtec Robotic show and verify its performance in a real-time application.

关键词： 7 DOF powercube manipulator 7 DOF robot manipulator IBVS Takagi Sugeno fuzzy system distributed fuzzy proportional controller eye-in-hand visual feedback fuzzy control image based visual servoing manipulators robot kinematic robot vision visual servoing

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Hybrid position and image based visual servoing for mobile robots

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JOURNAL OF INTELLIGENT & FUZZY SYSTEMS 2007年第1期18卷 73-82页

作者： Kim, Sunhyo Oh, Se-Young Pohang Univ Sci & Technol Dept Elect Engn Pohang 790784 South Korea

visual servoing requires the target object to be in the field of view of the camera all the time. At the same time, we also want to achieve optimal path planning and controllability of the robot pose. This paper presents a new hybrid fuzzy control method for visual servoing of mobile robots to meet these requirements. IBVS (image based visual servoing) calculates the motion plan directly from the image space using the inverse image Jacobian so that the target object always stays within the field of view. In contrast, PBVS (Position based visual servoing) uses an image-to-work space transform to plan an optimal pose trajectory directly in the cartesian. The proposed fuzzy control then integrates these two types of visual servoing through a warning signal indicating the target may escape the field of view. Also, we use the neural network for the prediction of the target position for a robust timely tracking of the object. Simulation and real experimental work based on MORIS, our mobile robot test bed, verify the efficacy of this approach.

关键词： image based visual servoing position based visual servoing mobile robotics fuzzy system neural network

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GNC architecture solutions for robust operations of a free-floating space manipulator via image based visual servoing

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ACTA ASTRONAUTICA 2021年 180卷 218-231页

作者： Marchionne, C. Sabatini, M. Gasbarri, P. Sapienza Univ Roma Dept Mech & Aerosp Engn Rome Italy Sapienza Univ Roma Dept Astronaut Elect & Energet Rome Italy Sapienza Univ Roma Sch Aerosp Engn Rome Italy

On-orbit servicing often requires the use of robotic arms, and a key asset in this kind of operations is autonomy. In this framework, the use of optical devices is a solution, already analyzed in many researches both for autonomous rendezvous and docking and for the evaluation of the control of the manipulator. In the present paper, simulations for assessing the controller performance are realized in a high-fidelity purposely developed software architecture, in which not only the selected 6 DOF space manipulator is modeled, but also a virtual camera, acquiring in the loop images of the target CAD model imported, is included in the GNC loop. This approach allows to emphasis several problems that would not emerge in simulations with images characterized by easily-identifiable, purposely-created markers. At the scope, a specific GNC architecture is developed, based on finite-state machine logic. According to this approach, two different image based visual servoing strategies are alternatively performed, commanding only linear or angular velocity of the camera, switching between the two control techniques when the "stack" or "divergence" condition is triggered. In this way a stable and robust accomplishment of the tasks is achieved for many configurations and for different target models.

关键词： image based visual servoing Space manipulators On-orbit servicing Advanced software simulations

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Ground Vehicle Tracking with a Quadrotor using image based visual servoing

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IFAC-PapersOnLine 2018年第13期51卷 344-349页

作者： Gomez-Avila, Javier Lopez-Franco, Carlos Alanis, Alma Y. Arana-Daniel, Nancy Lopez-Franco, Michel University of Guadalajara CUCEI Computer Science Department Guadalajara Mexico

In this paper the authors present an approach to track a ground vehicle with a quadrotor equipped with a monocular vision system. The proposed approach is based on a visual servoing technique, to estimate the quadrotor desired velocities. The paper includes simulation and experimental results to show the effectiveness of the algorithm © 2018

关键词： visual servoing Ground vehicles image based visual servoing Monocular vision system Quad rotors Quadcopter

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New results in visual invariant features for improved image based visual servoing 29

New results in visual invariant features for improved image ...

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第29届中国控制与决策会议

作者： Hao Wan Guoqiang Ye Weiguang Li School of Mechanical and Automotive Engineering South China University of Technology

ISBN: (纸本)9781509046584

Features selection plays an important role in image based visual servoing,the objective is to determine six independent visual features with nice decoupled and linear *** invariant is well-known as an ideal kind of features to design an improved *** this paper,a kind of visual invariant to rotational motions is derived from projection onto surface of a unit sphere,and it is calculated by vector inner product *** based feature jacobian can be provided through a simple deduction with operation laws of vector or ***,six independent visual features are determined with three inner product features and homography-based features,and a decoupled IBVS controller is ***,simulations results with a free-flying perspective camera are provided to illustrate the significance of our proposed method.

关键词： visual invariant features image based visual servoing

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Target Tracking based on SURF and image based visual servoing

Target Tracking Based on SURF and Image Based Visual Servoin...

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2nd International Conference on Communications Computing and Control Applications (CCCA)

作者： Djelal, N. Saadia, N. Ramdane-Cherif, A. Univ Sci & Technol Houari Lab Robot Parallelism & Electroenerget Algiers Algeria Univ Versailles St Quentin Lab LISV Yvelines France

ISBN: (纸本)9781467346955

In this paper we present a combination between a speed up robust features (SURF) and the image based visual servoing control law;in order to achieve a robust tracking mission. The validation of the proposed approach insured by the control of turret Pan-Tilt system using the visual features acquired by a webcam, and these visual features are extracted by the SURF algorithm;in the constraints of the variation of the scale and the rotation of the image;so that the use of the visual features in the image based visual servoing control law to compute the kinematics screw of the camera in the image frame. For tracking an object we need to introduce the jacobian of the robot to transfer the values of velocities from the camera frame to the robot articulation joints.

关键词： image based visual servoing SURF object tracking Turet Pan-Tilit

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A Hybrid image based visual servoing for a Manipulator using Kinect 17

A Hybrid Image Based Visual Servoing for a Manipulator using...

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Conference on Advances in Robotics (AIR)

作者： Raja, R. Kumar, S. Tata Consultancy Serv Innovat Lab Grasping & Robot Grp Noida 201309 Uttar Pradesh India

ISBN: (纸本)9781450352949

In this paper, we propose a hybrid image based visual servoing for 6 degrees of freedom (DoF) robot manipulators. It avoids the drawbacks of classical position-based visual servoing. Contrary to the position-based visual servoing, this method does not require any knowledge of the geometric 3 DoF model of the object. On the other hand, the depth information of the object is required. In the proposed approach, a Kinect sensor is used as a camera, which provides depth information of the object from the point cloud. This method tracks the position of the target object. The method is simulated in Gazebo platform with Kinect sensor mounted on 6 DoF Universal Robot 5 (UR5) manipulator, where all the physical parameters of the robot and Kinect sensor is considered. The solution is developed in C++ integrated with ROS, OpenCV. The method illustrated with a variety of simulation results with an eye-in-hand robotic system which shows the convergence of the system and potential of our method.

关键词： Eye-in-hand system image based visual servoing UR5 robot manipulator Kinect sensor Gazebo

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image-based visual servoing for Docking of an Autonomous Underwater Vehicle 7

Image-Based Visual Servoing for Docking of an Autonomous Und...

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7th IEEE International Conference on Underwater System Technology - Theory and Applications (IEEE USYS)

作者： Yahya, M. F. Arshad, M. R. Univ Sains Malaysia Sch Elect & Elect Engn Underwater Control & Robot Grp Engn Campus Nibong Tebal 14300 Pulau Pinang Malaysia

ISBN: (纸本)9781538619186

An autonomous underwater vehicle (AUV) depends on the embedded battery inside its system as a sole source of energy. It cannot prolong its operation due to the limited capacity of the battery. To overcome this limitation, a docking station may be utilized so that the AUV can dock inside the station and recharges its battery. There are few researches conducted on the docking of AUV using vision. Research which relies on the pose of the docking station to guide the AUV during docking operation may experience difficulties if the target is lost from the camera view. The AUV cannot determine the docking station pose if there are missing features. In this paper, an image based visual servoing method is proposed for the AUV to dock inside a docking station by relying on 5 target features. Simulation result shows that the AUV is capable to dock successfully inside the station by employing the proposed method.

关键词： image based visual servoing underwater docking autonomous underwater vehicle

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A Control Predictive Framework for image-based visual servoing Applications 24th

A Control Predictive Framework for Image-Based Visual Servoi...

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24th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Lazar, Corneliu Burlacu, Adrian Gheorghe Asachi Tech Univ Iasi Iasi Romania

ISBN: (纸本)9783319212906;9783319212890

Model predictive control (MPC) is a very attractive control algorithm used to solve the complex problems of image-based visual servoing (IBVS) systems. Many image-based predictive controllers were reported, each being different regarding the implementing of the MPC concept. In this paper, we present a MPC framework for IBVS applications, the main contributions being a new visual predictor and the introduction of the reference trajectory.

关键词： visual predictive control image based visual servoing Robot arm motion control

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