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检索条件"主题词=Visual Servo Control"

共 137 条记录，以下是101-110 订阅

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Optimal matching of three-dimensional features under geometrical constraints

Optimal matching of three-dimensional features under geometr...

引用

36th IEEE Conference on Decision and control

作者： Calafiore, GC Bona, B Politecn Torino Dipartimento Automat & Informat I-10129 Turin Italy

ISBN: (纸本)0780341872

This paper addresses the problem of determination of the displacement parameters (rigid rotation and translation) that bring an object set of three-dimensional features to match a template set, minimizing a measure of the mismatch error and satisfying an assigned set of geometrical constraints. This problem is encountered in many applications of computer vision, manufacturing processes (tolerance inspection of machined parts) and robotics, and has been widely treated in the literature in the unconstrained case: In this paper the solution of the unconstrained problem (least-squares solution via Singular Value Decomposition) is reviewed, and an original solution method for the constrained problem is proposed, based on an efficient interior-point convex optimization algorithm. An example of application to the target pose determination of a robot end-effector for a precision positioning task is presented to illustrate the use of the proposed methodology.

关键词： robotics absolute orientation automated tolerancing manufacturing computer vision visual servo control convex optimization least squares

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Automated packaging employing real-time vision 1

Automated packaging employing real-time vision

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1st International Workshop on Pattern Recognition (IWPR)

作者： Chang, Wen-Chung Wu, Chia-Hung Natl Taipei Univ Technol Dept Elect Engn DEE2125 Taipei 106 Taiwan

ISBN: (数字)9781510604315

ISBN: (纸本)9781510604315

Existing packaging systems rely on human operation to position a box in the packaging device perform do the packaging task. Current facilities are not capable of handling boxes with different sizes in a flexible way. In order to improve the above-mentioned problems, an eye-to-hand visual servo automated packaging approach is proposed in this paper. The system employs two cameras to observe the box and the gripper mounted on the robotic manipulator to precisely control the manipulator to complete the packaging task. The system first employs two-camera vision to determine the box pose. With appropriate task encoding, a closed-loop visual servoing controller is designed to drive a manipulator to accomplish packaging tasks. The proposed approach can be used to complete automated packaging tasks in the case of uncertain location and size of the box. The system has been successfully validated by experimenting with an industrial robotic manipulator for postal box packaging.

关键词： Machine vision robotic manipulator two-camera vision visual servo control

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Development of a novel visual servoing probe test method for fault diagnosis of printed circuit boards 22

Development of a novel visual servoing probe test method for...

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22nd World Congress of the International Federation of Automatic control (IFAC)

作者： Tipary, B. Juniki, A. Erdos, F. G. Takacs, E. Nemeth, K. Eotvos Lorand Res Network Inst Comp Sci & Control Ctr Excellence Prod Informat & Control Budapest Hungary Budapest Univ Technol & Econ Dept Mfg Sci & Engn Fac Mech Engn Budapest Hungary Univ Pannonia Veszprem Hungary

ISBN: (纸本)9781713872344

7Printed circuit board (PCB) measurement and repair is a challenging task that requires experience and expertise to perform. PCB diagnosis and repair shops employ skilled operators to carry out the corresponding measurement tasks using measuring instruments (e.g., oscilloscopes, multimeters) in order to uncover the condition of a particular product. However, these tasks are often repetitive and meticulous, and additionally, the results need to be collected and carefully documented so that the gathered experience regarding the product can be re-used when the next product of the same type arrives into the shop. Nevertheless, the diagnosis of used PCBs is less researched and current flexible automation possibilities are limited. In this paper, a novel visual servoing probe test method and measurement tool are proposed to provide a flexible solution for PCB diagnosis with a higher level of automation. The aim of the approach is to reduce the burden on the operators by carrying out the repetitive measurement tasks and automatically storing the results while leaving the responsibility of measurement profile setup to the human expert. The proposed visual servo system uses manually teached-in measurement points, where template patterns are recorded using cameras, and it is capable of compensating positioning errors in the range of a couple of millimeters. The proof of concept of the proposed method is presented through motherboard measuring experiments, with a 99.7% success rate. Copyright (c) 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Flexible and reconfigurable manufacturing systems Quality assurance and maintenance visual servo control Printed circuit board measurement Fault diagnosis

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Takagi Sugeno Fuzzy for Motion control of Ball on Plate System 5th

Takagi Sugeno Fuzzy for Motion Control of Ball on Plate Syst...

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5th International Conference on Advanced Computing, Networking, and Informatics (ICACNI)

作者： Elumalai, Vinodh Kumar Prasath, V. Keerthi Ahamed, B. Khizer Gupta, Rajeev Mohapatra, Sameer Kumar VIT Univ Sch Elect Engn Vellore 632014 Tamil Nadu India

ISBN: (纸本)9789811086366;9789811086359

This paper presents the Takagi Sugeno (TS) fuzzy scheme for stabilization and motion control of ball on plate system. Plant nonlinearity and inter-axis coupling are the two major challenges which enhance the complexity of controller design for ball on plate system. Hence, in this paper, we utilize the TS fuzzy-based input-output mapping to deal with the nonlinearities and model variation associated with the ball on plate system, which emulates the concept of visual servo control (VSC). The motivation for using TS fuzzy model is that it can capture the dynamics of a nonlinear plant model with fewer fuzzy rules and yield better accuracy compared to Mamdani fuzzy. Moreover, as TS fuzzy is a multimodal approach, it offers a systematic way to derive the fuzzy rules from the given input-output data. The performance of the control scheme is validated through simulation, and the tracking results prove that the TS fuzzy scheme can offer precise tracking control of ball on plate system.

关键词： TS fuzzy Ball on plate system visual servo control Under-actuated system

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A single 3-D feature-based visual servoing 20

A single 3-D feature-based visual servoing

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20th International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Doignon, Christophe Univ Strasbourg Control Vis & Robot Team ICube UMR CNRS 7357 Strasbourg France

ISBN: (纸本)9781479987016

In this paper we present a visual servo control technique by means of a single geometrical feature. The proposed approach refers to a multiple views information and a proper data representation. This work is motivated by tackling the control of an euclidean displacement inside a non-rigid environment, for performing an efficient feature selection and a quick outliers rejection. Precisely, the so-called Plucker coordinates, as originally known to be effective for 3-D straight line modeling, is shown here to be a relevant data representation. With visual measurements, this modeling allows to analyze the visual sensor displacement with respect to the object-of-interest motion, and it is very convenient while designing the state vectors and the kinematic control laws. Two sets of task functions and control laws are presented and these two families of motion are compared according to the considered degrees-of-freedom for rotational and translational velocities. To assess the proposed approach, real experiments with an industrial robot are performed. Results about the cameras displacement show the efficiency of this technique.

关键词： Representation of data state vectors visual servo control industrial robots visual servoing Job Ladders DISPLACEMENT displacement Displacement (Defense Mechanism) Dislocated Workers Feature extraction Rotational

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Application and simulation of Single Neuron PID in IBVS

Application and simulation of Single Neuron PID in IBVS

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2nd International Conference on Advanced Design and Manufacturing Engineering (ADME 2012)

作者： Dong, Jie Zhang, Li Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China

ISBN: (纸本)9783037855034

visual servo control is one of the central issues in the research field of intelligent robot. In order to obtain more effective information from the environment, visual sensor is used in robot control. This paper mainly studies the application of intelligent algorithm in visual controller. Through the simulation comparison between Single neuron PID and Fuzzy adaptive PID which are introduced to IBVS, we can find that the proposed method could get better effect in convergence and fast performance.

关键词： Single neuron PID visual servo control visual controller

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Development of an Omnidirectional Vision System for Environment Perception

Development of an Omnidirectional Vision System for Environm...

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2014 IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Song, Yongbo Shi, Qing Huang, Qiang Fukuda, Toshio Beijing Inst Technol Sch Mechatron Engn Intelligent Robot Inst Beijing Peoples R China Waseda Univ Fac Sci & Engn Tokyo Japan

ISBN: (纸本)9781479973972

In this paper, we describe a portable Omnidirectional Vision System for Environment Perception (OVSEP) with 5 Degrees of Freedom (DOFs). OVSEP has a modular design and it is equipped with three main components: hardware, control architecture and visual processing part (omnidirectional vision and stereovision). A face detection algorithm and a method for 3D reconstruction have been used to evaluate the performance of OVSEP. Experimental results show that OVSEP was capable of detecting and tracking human faces in real time, correctly positioning stereo vision, and performing 3D reconstruction. Thus OVSEP can provide detailed information of surrounding environment in real time for the study of humanoid robot falling.

关键词： Omnidirectional vision Stereo vision visual servo control Humanoid robot

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PLG-Based visual Tracing for Eye-in-Hand Puma 560 Robot

PLG-Based Visual Tracing for Eye-in-Hand Puma 560 Robot

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2nd International Conference Intelligent Robotics and Applications

作者： Hu, Wen-qiang Tian, Kai Sun, Rong-Lei Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Sch Software Engn Wuhan 430074 Peoples R China

ISBN: (纸本)9783642108167

In this paper, one algorithm used to control eye-in-hand robot motion is studied and simulated. First, the fundament matrix of visual system is computed based on epipolar geometry;then the matrix is segmented to get the instantaneous poses and moving trajectories of end-effector based on IBVS. Finally one simulating experiment is completed and the experimental results demonstrate the efficiency of the proposed mothod.

关键词： IBVS Epipolar Geometry visual servo control

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Autonomous Tracking and Landing of QUAV Based on Air-Ground Cooperation 28

Autonomous Tracking and Landing of QUAV Based on Air-Ground ...

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28th IEEE International Symposium on Industrial Electronics (IEEE-ISIE)

作者： Xiao, Xuan Wang, Chen Yang, Yi Li, Zhuang Qin, Ziyu Beijing Inst Technol Sch Automat Beijing Peoples R China

ISBN: (纸本)9781728136660

Quadrotor Unmanned Aircraft Vehicle (QUAV) and ground mobile platform work together to accomplish tasks, which have significant application value in military and civilian fields. In this paper, in the process of autonomous tracking and landing of the QUAV on the ground mobile platform, the method of "air-ground cooperation" is proposed aiming at the loss of target caused by sudden changes of the ground moving target position and the delay caused by information processing of the QUAV. The movement of the platform is estimated through the inertial sensors on the ground platform, and it is fused with the visual servo information of the QUAV to obtain an advance compensational control quantity. According to the motion state of the QUAV and the platform, the control strategies of horizontal position tracking, vertical landing and the adaptive dynamic adjustment of the control parameters are designed. The simulation results show that the proposed method improves the real-time performance and stability compared with the traditional visual servo-based method, and ensures the effective tracking and stable landing of the QUAV.

关键词： QUAV autonomous tracking and landing air-ground cooperation visual servo control

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Integrated visual servo Detection Scheme Switching by Moment Invariants 9

Integrated Visual Servo Detection Scheme Switching by Moment...

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9th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC)

作者： Dou, Yiwen Wang, Jun Zhang, Chun Lu, Guifu Li, Chenlong Anhui Polytech Univ Coll Comp & Informat Sci Wuhu 241000 Anhui Peoples R China Anhui Polytech Univ Coll Elect Engn Wuhu 241000 Anhui Peoples R China

ISBN: (纸本)9781538630228

This paper proposed a novel scheme which gives mathematical description of 2D/3D measurement and includes two visual detection strategies with switching method by Hu moment. On the six degree of freedom serial robot, a rigid planar patch is overlaid as auxiliary measuring. In view of improve computing efficiency and robustness, a preprocess stage of the scheme based on visual attention mechanism is needed for computing pose parameters. Then, the proposed scheme will use Hu moment to switch different strategies between simple pose computing and complex pose computing. Simultaneously, the corresponding parameters computed by the proposed new scheme can be testified by a close loop which mutual information is used to test the value of coincidence level. Once the coincidence level surpasses the given threshold value, the SR pose parameter is acquired from our proposed scheme. Experimental results show that the proposed scheme can reach the high precision PID algorithm, with the result it can be applied in many visual servo detection areas.

关键词： visual servo control Simple pose computing (SPC) Complex pose computing (CPC) Coincidence level (CL) Geometric moment

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