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A Hybrid Switched Reactive-Based visual servo control of 5-DOF Robot Manipulators for Pick-and-Place Tasks

IEEE SYSTEMS JOURNAL 2015年第1期9卷 119-130页

作者： Tsai, Chi-Yi Wong, Ching-Chang Yu, Chia-Jun Liu, Chih-Cheng Liu, Tsung-Yen Tamkang Univ Dept Elect Engn Taipei 25137 Taiwan

This paper addresses the problem of visual servo control for a five-degree-of-freedom robot manipulator to perform pick-and-place tasks. A new hybrid switched reactive-based visual servo control structure, inspired from a sensing-and-reaction behavior without the inverse interaction matrix computing, is proposed to handle this problem efficiently. The proposed structure is similar to the logic-based approaches, but the requirements of the fuzzy modeling and/or the fuzzy-rule base learning are omitted. To achieve this, a novel hardware-aware reactive function approach is presented to directly map an image position error vector to a desired end-effector velocity vector under the consideration of hardware limitations. This approach helps to simplify the implementation of visual servo systems with improved reliability. Moreover, the proposed control system is a hybrid switching controller consisting of both image-based and position-based reactive planning schemes, which allows improving the robustness and effectiveness of the visual servo system. Experimental results validate the performance of the proposed visual servo control method in a realistic scenario setting.

关键词： Hardware-aware reactive function pick-and-place manipulation reactive-based control robot manipulator visual servo control

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An approach integrating planning and image-based visual servo control for road following and moving obstacles avoidance

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INTERNATIONAL JOURNAL OF control 2020年第10期93卷 2442-2456页

作者： Reyes, Ramses Murrieta-Cid, Rafael Ctr Invest Matemat Guanajuato 36023 Mexico

This paper proposes an approach that integrates planning and image based visual servo control for road following and moving obstacle avoidance. One main objective of this article is to represent a robot's general plan or strategy in the form of a finite state machine or automaton. This automaton is designed previously to execution of the plan and then it is used for any instance of the robot's task. The visual servo control is used to regulate the robot's velocity according to the visual target (task specification) which depends on the state in the automaton. All the algorithms and control laws have been implemented and simulation results and experiments with a real scale-size car-like robot are presented and discussed.

关键词： Automaton planning visual servo control car-like robot road following obstacles avoidance

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Automatic Microassembly Using visual servo control

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IEEE TRANSACTIONS ON ELECTRONICS PACKAGING MANUFACTURING 2008年第4期31卷 316-325页

作者： Wang, Lidai Mills, James K. Cleghorn, William L. Univ Toronto Dept Mech & Ind Engn Toronto ON M5S 3G8 Canada

We propose an automatic microassembly method that can be used to construct three-dimensional microelectromechanical system (MEMS) structures. A six degree-of-freedom micromanipulator, equipped with a passive microgripper, is employed to grasp, manipulate, and join the micropart using visual feedback from an optical microscope. The proposed process utilizes a two-stage alignment strategy to perform the micro-grasping and micro-joining tasks. Using a vision-based localization method, the Cartesian coordinates of the manipulated micropart in three-dimensional space are determined. Further, a vision-based contact sensor determines the contact state between two micro-components in three dimensions to facilitating the micro-joining tasks. visual servo control is used for accurate position feedback in three Cartesian coordinates during microassembly tasks. The necessary steps towards construction of complex three-dimensional MEMS devices, i.e., grasping a micropart, manipulating it, joining it to another micropart, and finally releasing it from the microgripper, have been successfully carried out using a six degree-of-freedom micromanipulator. Experiments demonstrate both the efficiency and validity of the proposed automatic assembly approach.

关键词： Microassembly microelectromechanical systems (MEMS) vision-based contact sensor visual servo control

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Quaternion-based visual servo control in the presence of camera calibration error

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2010年第5期20卷 489-503页

作者： Hu, Guoqiang Gans, Nicholas Dixon, Warren Kansas State Univ Dept Mech & Nucl Engn Manhattan KS 66506 USA Univ Florida Dept Mech & Aerosp Engn Gainesville FL 32611 USA

visual servo control systems use information from images along with knowledge of the optic parameters (i.e. camera calibration) to position the camera relative to some viewed object. If there are inaccuracies in the camera calibration, then performance degradation and potentially unpredictable response from the visual servo control system may occur. Motivated by the desire to incorporate robustness to the camera calibration, different control methods have been developed. Previous adaptive/robust controllers (especially for six degree-of-freedom camera motion) rely heavily on properties of the rotation parameterization to formulate state estimates and a measurable closed-loop error system. All of these results are based on the singular axis-angle parameterization. Motivated by the desire to express the rotation by a non-singular parameterization, efforts in this paper address the question: Cart state estimates and a measurable closed-loop error system be crafted in terms of the quaternion parameterization when the camera calibration parameters are unknown? To answer this question, a contribution of this paper is the development of a robust controller and closed-loop error system based on a new quaternion-based estimate of the rotation error. A Lyapunov-based analysis is provided which indicates that the controller yields asymptotic regulation of the rotation and translation error signals given a sufficient approximate of the camera calibration parameters. Simulation results are provided that illustrate the performance of the controller for a range of calibration uncertainty. Copyright (C) 2009 John Wiley & Sons, Ltd.

关键词： robust control visual servo control nonlinear system Lyapunov methods uncertain systems

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Multirate predictor control scheme for visual servo control

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IEE PROCEEDINGS-control THEORY AND APPLICATIONS 2002年第2期149卷 117-124页

作者： Sim, TP Hong, GS Lim, KB Natl Univ Singapore Dept Mech Engn Singapore 119260 Singapore

An attractive control scheme for a position-based dynamic "look and move" eye-in-hand visual servo system is proposed, The multirate predictor control scheme is used to overcome the inherent delay in the vision system and the multirate nature of the dynamic look-and-move visual servo control scheme. The control scheme takes the form of a simple predictor placed in the major feedback of the standard Smith predictor control scheme. This in turn eliminates the delay time between the dynamics of the observed target and the control, in a similar fashion to the feedforward Smith predictor. Hence the proposed control scheme is also known as the modified Smith predictor (MSP) control scheme. A detailed analysis of the proposed control scheme is presented for visual servo control. Representative computer simulation studies are presented to verify the effectiveness of the proposed multirate predictor control scheme for dynamic visual tracking.

关键词： Pattern recognition and computer vision equipment vision system delay predictive control delays servomechanisms feedback Distributed parameter control systems visual servo control target-control delay time modified Smith predictor control scheme Computer vision and image processing techniques Optimal control active vision digital simulation Actuating and final control devices control system design and analysis control system analysis and synthesis methods computer simulation multi-rate predictor control scheme position-based dynamic look-and-move eye-in-hand system optical tracking control system analysis computing dynamic visual tracking

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Homography-Based visual servo control With Imperfect Camera Calibration

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IEEE TRANSACTIONS ON AUTOMATIC control 2009年第6期54卷 1318-1324页

作者： Hu, G. MacKunis, W. Gans, N. Dixon, W. E. Chen, J. Behal, A. Dawson, D. Kansas State Univ Dept Mech & Nucl Engn Manhattan KS 66506 USA Univ Florida Dept Mech & Aerosp Engn Gainesville FL 32611 USA Univ Michigan Dept Naval Architecture & Marine Engn Ann Arbor MI 48109 USA Univ Cent Florida Dept Elect & Comp Engn Orlando FL 32809 USA Clemson Univ Dept Elect & Comp Engn Clemson SC 29631 USA

In this technical note, a robust adaptive uncalibrated visual servo controller is proposed to asymptotically regulate a robot end-effector to a desired pose. A homography-based visual servo control approach is used to address the six degrees-of-freedom regulation problem. A high-gain robust controller is developed to asymptotically stabilize the rotation error, and an adaptive controller is developed to stabilize the translation error while compensating for the unknown depth information and intrinsic camera calibration parameters. A Lyapunov-based analysis is used to examine the stability of the developed controller.

关键词： Lyapunov methods quaternion representation robust adaptive control uncertain systems visual servo control

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A visual servo control SYSTEM COMBINING PARALLEL STRUCTURE WITH DUAL-LENS ZOOM

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INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 2019年第6期34卷 678-687页

作者： Zhang, Huyin Dong, Wei Guo, Chi Shu, Siran Zuo, Wenwei Wuhan Univ Sch Comp Sci Wuhan Hubei Peoples R China Wuhan Univ GNSS Ctr Wuhan Hubei Peoples R China Wuhan Univ Sch Geodesy & Geomat Wuhan Hubei Peoples R China Zhongshan Cybertron Intelligent Technol Co Ltd Zhongshan Guangdong Peoples R China

Currently, visual servoing is increasingly used in daily life. The task of visual servoing is first to capture pose by a mono camera and then to acquire the expected pose by calculating the joints velocities of serial structure. However, the pose obtained in this way is not accurate enough, and there may exist some singular points. Therefore, a visual servo control system that integrates parallel structure with a wide-angle lens and a telephoto lens is proposed. For the visual part, the detection and tracking can be achieved by the wide-angle lens. And to present higher definition images of the target, continuous zoom is realized by the dual lens which can be adjusted according to the distance between the target and the camera. In the servo part, visual servo control is accomplished by the looking-up table and triangle-plane smooth method. Furthermore, the system has been verified by relevant experiments based on a parallel prototype machine. The results show that high-definition images can be obtained by continuous zoom with a dual lens, and the parallel structure model is feasible. Additionally, the control strategy is more accurate and in good robustness as it can reduce measurement errors.

关键词： visual servo control detection tracking dual-lens zoom parallel structure

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Navigation function-based visual servo control

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AUTOMATICA 2007年第7期43卷 1165-1177页

作者： Chen, Jian Dawson, Darren M. Dixon, Warren E. Chitrakaran, Vilas K. Univ Michigan Dept Naval Architecture & Marine Engn Ann Arbor MI 48109 USA Clemson Univ Dept Elect & Comp Engn Clemson SC 29631 USA Univ Florida Dept Mech & Aerosp Engn Gainesville FL 32611 USA

In this paper. the mapping between the desired camera feature vector and the desired camera pose (i.e., the position and orientation) is investigated to develop a measurable image Jacobian-like matrix. An image-space path planner is then proposed to generate a desired image trajectory based on this measurable image Jacobian-like matrix and an image-space navigation function (NF) (i.e., a special potential field function) while satisfying rigid body constraints. An adaptive, homography-based visual servo tracking controller is then developed to navigate the position and orientation of a camera held by the end-effector of a robot manipulator to a goal position and orientation along the desired image-space trajectory while ensuring the target points remain visible (i.e., the target points avoid self-occlusion and remain in the field-of-view (FOV)) under certain technical restrictions. Due to the inherent nonlinear nature of the problem and the lack of depth information from a monocular system. a Lyapunov-based analysis is used to analyze the path planner and the adaptive controller. Simulation results are provided to illustrate the performance of the proposed approach. (c) 2007 Elsevier Ltd. All rights reserved.

关键词： visual servo control robot navigation Lyapunov technique

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Adaptive visual servo control of Robotic Harvesting Systems

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IFAC-PapersOnLine 2016年第16期49卷 287-292页

作者： Mehta, S.S. Burks, T.F. University of Florida Department of Industrial and Systems Engineering ShalimarFL32579 United States University of Florida Department of Agricultural and Biological Engineering GainesvilleFL32611 United States

Harvesting efficiency is a critical factor in determining whether robotic harvesting can be economically superior to hand picking. One practical challenge in robotic harvesting is to grasp a moving fruit, where unsuccessful pick cycles may result in lower harvesting efficiency. The fruit motion can be due to exogenous disturbances such as wind gust, canopy unloading, and particularly, fruit detachment forces. In this paper, an adaptive visual servo control law is presented to estimate and subsequently compensate the unknown time-varying fruit motion. The fruit motion in the image plane and along the optical axis is modeled as a second-order spring-mass system. The unknown parameters of fruit motion are identified using an adaptive parameter update law, and a robust feedback term is included in the control law to account for modeling uncertainties. Lyapunov-based stability analysis guarantees uniformly ultimately bounded regulation of the robot to the fruit position. Simulation results are provided to verify the feasibility of the developed controller. © 2016

关键词： visual servoing Adaptive control systems Adaptive optics control theory Efficiency Fruits Harvesting Pneumatic control equipment Robotics Uncertainty analysis Unloading Adaptive parameters Agricultural robotics Exogenous disturbances Lyapunov based stability analysis Model uncertainties Uniformly ultimately bounded Vision based control visual servo control

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ONLINE COMPUTATION OF FEATURE SENSITIVITY MATRIX FOR visual servo control OF ROBOTS

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ELECTRONICS LETTERS 1988年第9期24卷 555-556页

作者： KIM, K JANG, W BIEN, Z Korea Adv. Inst. of Sci. & Technol. Seoul

For image-based visual servoing of a robot, it is necessary to determine a feature sensitivity matrix G indicating the relation between small feature changes and differential motion of the camera mounted on the robot. In this letter, a new scheme for online computation of the G matrix is proposed. The proposed scheme, which requires no knowledge of relative object position, is simple, owing to a coaxially-aligned dual camera set, and would be effective for vision-based control of manipulators or mobile robots

关键词： G matrix dual camera set feature sensitivity matrix feedback image-based visual servoing online computation robots robots servomechanisms small feature changes vision-based control visual servo control

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