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Optimized visual servo control and Digital Twin-Driven Hardware-in-the-Loop Simulation Methods for Autonomous Surface Manipulator Systems

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2025年

作者： Li, Tao Cai, Yi Hong Kong Univ Sci & Technol Guangzhou Smart Mfg Thrust Guangzhou 511400 Peoples R China

Autonomous surface manipulator systems (ASMS) are novel, versatile robotics platforms consisting of manipulators and unmanned surface vehicles (USVs) on the water. One of their typical tasks is to grasp floating objects using visual servo control (VSC) methods. However, traditional VSC methods use joint velocities of the manipulator as control objects and they cannot be directly applied to ASMS because of the inability to control the manipulators that use joint angles as motion instructions, and the inability to adjust controller parameters based on ASMS's stability during grasping processes. In addition, it is a challenge to test the grasping performance of ASMS safely and efficiently. To address these issues, this article first develops a 12-degree-of-freedom ASMS model that considers the dynamic coupling between the manipulator and the USV, and proposes a normalized stability index for ASMS. Then, an optimized VSC method is proposed, which employs the joint angles of the manipulator as control targets and can adjust the control gains according to ASMS's stability. After that, a digital twin-driven hardware-in-the-loop simulation platform is developed for experiments. The experimental results validate that the optimized VSC method can improve the grasping success rate and stability of ASMS while maintaining high grasping efficiency.

关键词： Manipulators Manipulator dynamics Hardware-in-the-loop simulation Stability criteria Grasping Surface cleaning Safety Mathematical models Indexes Dynamics Autonomous surface manipulator system (ASMS) digital twin (DT) dynamic modeling hardware-in-the-loop (HIL) simulation visual servo control

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visual servo control of a Robot Manipulator based on Passivity

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REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL 2008年第4期5卷 54-+页

作者： Soria, Carlos Roberti, Flavio Carelli, Ricardo Sebastian, Jose M. Univ Nacl San Juan Inst Automat Fac Ingn San Juan Argentina Univ Politecn Madrid Dept Automat Ingn Elect & Informat Ind Esc Tecn Super Ingn Ind E-28006 Madrid Spain

In this work a visual servo control based oil the passivity properties of the visual system is designed. It proposes a regulator with variable control gains. to avoid the saturations of the actuators while introducing, the ability to correct errors of small magnitude. Also the design is done taking into account the L2 performance, to give the capacity to track moving objects,with a small error control. Experimental results are showed in an industrial robot Manipulator planar type to verify the compliance with the objectives of the proposed controller. Copyright (c) 2008 CEA.

关键词： industrial robot manipulator visual servo control non linear control passivity

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visual servo control Achieving Nanometer Resolution in X-Y-Z

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IEEE TRANSACTIONS ON ROBOTICS 2009年第1期25卷 109-116页

作者： Kim, Jung H. Menq, Chia-Hsiang Lam Res Corp Fremont CA 94536 USA Ohio State Univ Dept Mech Engn Columbus OH 43210 USA

This paperpresents a three-axis vision motion sensor and its applications to visual servo control. The vision sensor is integrated with a three-axis piezo stage to form a visual servo control system that achieves nanometer resolution in all three x-y-z motion axes. Motion measurement is achieved using a single interferometer-equipped optical microscope. A real-time image-processing algorithm that processes interference fringe patterns and that achieves nanometer out-of-plane resolution is presented. Furthermore, a feed back-control scheme is introduced to control the sensor plane using an Objective-Z-Positioner to enable automatic tracking of moving objects. It expands the out-of-plane measurement range of the vision sensor beyond its inherent depth of field of several micrometers to 100 mu m and beyond. An integrated visual servo system is implemented and experimental results are shown.

关键词： Fringe pattern interferometry laterally sampled white light interferometry (L-SWLI) motion measurement optical microscope visual servo control white light interferometry (WLI)

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visual servo control algorithm for soccer robots considering time-delay

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INTELLIGENT AUTOMATION AND SOFT COMPUTING 2000年第1期6卷 33-43页

作者： Kim, SH Choi, JS Kim, BK Korea Adv Inst Sci & Technol Yusong Gu Taejon 305701 South Korea

An efficient visual servo control algorithm which uses primary/secondary controller and the Smith predictor based an an accurate model of robot soccer system including time-delay is suggested for micro-robot soccer tournament (MIROSOT). In this paper, we analyze and design control system of soccer robot in the frame of visual servoing. We think that our approach encourages more systematic approaches to soccer robot system. MIROSOT system is a typical direct visual servo system with a fixed camera and mobile robots with internal sensors such as encoders. In real games, encoders often offer wrong position data due to slips and collisions between robots or between a robot and a walt However, vision provides positions and orientations of robots in certain accuracy regardless of slips or collisions. In spite of this advantage inevitable time-delay arising from vision and communication subsystems seriously causes undesired effects in control of robots. In this paper we present a visual servo controller considering the time-delay. First, we present an accurate dynamic model of organic cooperation of robot soccer systems [3] that includes the time-delay. And we design the Smith predictor [13] using the model to cancel out the deteriorating effect of time-delay in our soccer robot system And using the model, we also propose control structure with primary/secondary controller [12] to control the system precisely. Finally, we show performance of the proposed controller and the predictor in simulation studies.

关键词： visual servo control time-delay Smith-predictor primary and secondary controller

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visual servo control for Workspace Navigation of Nanorobot End-Effector Inside SEM

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2024年第3期21卷 3472-3482页

作者： Li, Teng Yang, Yuting Fu, Xiang Sun, Zhenhuan Li, You Fu Liu, Song Shanghai Tech Univ Sch Informat Sci & Technol Shanghai 201210 Peoples R China City Univ Hong Kong Dept Mech Engn Hong Kong Peoples R China Shanghai Engn Res Ctr Intelligent Vis & Imaging Shanghai 201210 Peoples R China

Despite of the promising advancements in the last decade, the majority of scanning electron microscope (SEM)-based nanomanipulation tasks remain manually performed. Even in automated tasks, human intervention is required, at least during the task preparatory stage, where both the object of interest and robot end-effector are adequately enclosed in the field of view (FOV) of SEM at moderate magnification. This paper proposes a fully automated visual servo control method for workspace navigation of nanorobot end-effector that actively maintains the end-effector position offset from the center of FOV during passive working scene zooming and translation operations. We also propose using the scaling image Jacobian matrix theory to adaptively establish the hand-eye relationship of the nanorobotic system at uncalibrated magnifications, without the need for hardware regulation. This proposed method for workspace navigation is applicable to almost all commercial nanomanipulation systems. To the authors' best knowledge, there has been no dedicated research on this problem in the literature. Experiments show that the proposed method significantly improves workspace navigation efficiency by about two-thirds, even for a skilled operator. Note to Practitioners-Workspace navigation refers to the process of moving the FOV to visually enclose the object or feature of interest at a moderate magnification, which is prerequisite for initializing either an automated or manual nanomanipulation task. This process involves consecutive zooming of the SEM in and out, as well as translating the sample stage, which can cause the end-effector to move out of the FOV. Therefore, it is necessary to move the robot end-effector with visual assistance along workspace navigation to avoid unexpected collisions. Typically, skilled operators perform this process manually in almost all nanomanipulation tasks, which is tedious and time-consuming. Therefore, developing an automated visual servo control meth

关键词： End effectors visualization Scanning electron microscopy Navigation Calibration Jacobian matrices Task analysis Scaling image Jacobian matrix consecutive zooming operation hand-eye relationship visual servo control nanomanipulation inside SEM

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visual servo control of the Hexapod Robot With Obstacle Avoidance

Visual Servo Control of the Hexapod Robot With Obstacle Avoi...

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IEEE International Conference on Fuzzy Systems

作者： Yu, Wen-Shyong Huang, Chiau-Wei Tatung Univ Dept Elect Engn Taipei 10451 Taiwan

ISBN: (纸本)9781479920723

This paper is to design a visual servo control for a hexapod robot with obstacle avoidance. The implementation of the motion control for the hexapod robot using the inverse kinematics and visual recognition system is used to achieve the trajectory tracking with obstacle avoidance. The control structure is composed of three parts: a tilt camera based on the concepts of mechanical geometry, visual servo control systems, and motion dynamics for trajectory tracking and obstacle avoidance. First, the depth between the obstacle and robot based on the proportion of the size of the area is constructed. Then, the image processing is used to identify whether there are any obstacles in the front, and make it as a feedback to the servo control system. For image recognition, we use OpenCV to process environment to the grayscale and binarization, filter noise through erosion and dilation, and then fill all of the contours using Sobel edge detection, and finally calculate the area and compare that with each other. Finally, some experiments for a hexapod robot with obstacle avoidance are used to validate the performance of the proposed control scheme.

关键词： Hexapod robot visual servo control motion dynamics trajectory tracking obstacle avoidance

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visual servo control for Dynamic Hovering of an Underwater Biomimetic Vehicle-Manipulator System by Neural Network 14

Visual Servo Control for Dynamic Hovering of an Underwater B...

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IEEE International Conference on Mechatronics and Automation (ICMA)

作者： Wang, Rui Wang, Yu Wang, Shuo Tang, Chong Tan, Min Univ Chinese Acad Sci Chinese Acad Sci Inst Automat Beijing Peoples R China Chinese Acad Sci Inst Automat Beijing Peoples R China

ISBN: (纸本)9781509067596

This paper deals with the problem of dynamic hovering of a bio-inspired robot with undulatory fins. First, the mechanism and dynamic model of the underwater robot named RobCutt-II is briefly introduced. Next, an neural network visual servo control is presented to achieve hovering control. In particular, a dual-loop visual hovering control is designed. At first, we analyze the relationship between the image feature error and the direction of the controllable velocity. In the outer loop, a PID controller is used to calculate the current controllable velocity based on image feature error in real time. Meanwhile, the inverse model of undulatory fins is established using the neural network. The velocity error is hereby mapped to the control parameters of the undulatory fins of the RobCutt-II. The simulation results of dynamic hovering are provided to illustrate the validity of the proposed method.

关键词： Dynamic hovering visual servo control undulatory fin image feature neural network

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visual servo control of a Three Degree of Freedom Robotic Arm System

Visual Servo Control of a Three Degree of Freedom Robotic Ar...

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IEEE Workshop on Advanced Robotics and Its Social Impacts

作者： Chang Ho-Chung Shih Ta-Ming Graduate School of Defense Science CCIT NDU Department of Power Vehicle and System Engineering CCIT NDU

ISBN: (纸本)9781424426744

The Remote controlled Weapon Station (RCWS) is currently highly emphasized in infantry warfare. The future trend will focus on automatic targeting procedure to improve efficiency, and meanwhile to save the operator from hostile fire. In addition to operate the gun turret remotely, it is presently a direction to be integrated with the Unmanned Ground Vehicle (UGV) to serve as surveillance unit in the combat hot zone, such as peace keeping mission. In this research, an improved targeting algorithm based on visual servo concept, Kalman estimator and fuzzy logic theory is proposed, and a SCORBOT ER5+ robotic system was modified as a platform to demonstrate the result.

关键词： visual servo control Template-matching Fuzzy control Kalman estimator

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visual servo control of Unmanned Aerial Vehicles: An Object Tracking-based Approach 29

Visual Servo Control of Unmanned Aerial Vehicles: An Object ...

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第29届中国控制与决策会议

作者： Jia Yang Xing Huo Bing Xiao Zhenzhou Fu Chaofan Wu Yiran Wei College of Engineering Bohai University

ISBN: (纸本)9781509046584

This paper investigates the object following control problem for a low-cost quadrotor unmanned aerial vehicle(UAV). An object tracking-based approach is proposed. In this approach, the techniques of object tracking and visual servo control are efficiently combined to achieve the control objectives. To eliminate the impact of tracking target rotation during tracking model, an online learning method is proposed by learning the object size over different view at the desired distance. On the basis of this, an image-based visual servo control law is then designed to ensure that the quadrotor can track the moving target in real-time and keep the desired distance away from the object. The applicability of the proposed scheme is verified by flight experiments. It is demonstrated that the proposed algorithm is robust to rotary movement.

关键词： visual Tracking visual servo control Object Following control Online Learning

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visual servo control of a Micro Quad-copter as a Teaching Platform for Engineering 29

Visual Servo Control of a Micro Quad-copter as a Teaching Pl...

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29th Irish Signals and Systems Conference (ISSC)

作者： Pessoa, Rodrigo Barbosa, William Mc Loughlin, James Kokaram, Anil Trinity Coll Dublin Elect & Elect Engn Dept Dublin Ireland Pontifical Catholic Univ Rio De Janeiro Eletr Engn Dept Rio De Janeiro Brazil

ISBN: (纸本)9781538660461

This paper presents a platform for controlling a micro quad-copter using a single visual sensor fixed to the ground. The aim is for this to be a teaching platform with academic and research applications, that combines dynamic real-time control with image segmentation and servoing. A mathematical model based on the Newton-Euler formulation is presented for the quad-copters dynamics. Three different image segmentation algorithms are presented and discussed. A simulator is implemented using MATLABs Simulink environment and a linear quadratic regulator with integral gain (LQR-I) controller is presented as means of controlling a linearized version of the system.

关键词： visual servo control quad copter visual sensor single camera LQR

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