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Teach by zooming: A unified approach to visual servo control

MECHATRONICS 2012年第4期22卷 436-443页

作者： Mehta, S. S. Jayaraman, V. Burks, T. F. Dixon, W. E. Univ Florida Res & Engn Educ Facil Shalimar FL 32579 USA Univ Florida Dept Agr & Biol Engn Gainesville FL 32611 USA Univ Florida Dept Mech & Aerosp Engn Gainesville FL 32611 USA

Traditionally, a visual servo control problem is formulated in the teach by showing framework with an objective to regulate a camera based on a reference (or desired) image obtained by a priori positioning the same camera at the desired task-space location. A new strategy is essential for a variety of applications where it may not be possible to position the camera a priori at the desired position/orientation. In this paper, a visual servo control approach, called "teach by zooming", is formulated where the objective is to position/orient a camera based on a reference image obtained by another camera. For example, a fixed camera providing a wide area view of the scene can zoom in on an object and record a desired image for another camera. A non-linear Lyapunov-based controller is designed to regulate the image features acquired by an on-board camera to the corresponding image feature coordinates in the desired image acquired by the fixed camera in the presence of uncertain camera calibration parameters. The proposed control formulation becomes identical to the well-known teach by showing controller when the camera-in-hand can be located a priori to the desired position/orientation;thus enabling control in a wide range of applications. Experimental results for regulation control of a 7 degrees-of-freedom robotic manipulator are provided to demonstrate the performance of the proposed visual servo controller. (C) 2011 Elsevier Ltd. All rights reserved.

关键词： Teach by zooming Teach by showing visual servo control Nonlinear control

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visual servo control System of a Piezoelectric 2-Degree-of-Freedom Nano-Stepping Motor

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MICROMACHINES 2019年第12期10卷 811-811页

作者： Chen, Cheng-Lung Hung, Shao-Kang Natl Chiao Tung Univ Dept Mech Engn 1001 Univ Rd Hsinchu 30010 Taiwan

A nano-stepping motor can translate or rotate when its piezoelectric element pair is electrically driven in-phase or anti-phase. It offers millimeter-level stroke, sub-micron-level stepping size, and sub-nanometer-level scanning resolution. This article proposes a visual servo system to control the nano-stepping motor, since its stepping size is not consistent due to changing contact friction, using a custom built microscopic instrument and image recognition software. Three kinds of trajectories straight lines, circles, and pentagrams are performed successfully. The smallest straightness and roundness ever tested are 0.291 mu m and 2.380 mu m. Experimental results show that the proposed controller can effectively compensate for the error and precisely navigate the rotor along a desired trajectory.

关键词： piezoelectricity visual servo control stepping motor nano-positioner stick-slip

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An Advanced control Method of Manipulator Based on visual servo control 35

An Advanced Control Method of Manipulator Based on Visual Se...

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35th Chinese control and Decision Conference (CCDC)

作者： Wu, Gui Zeng, Peng Jianghan Univ Educ Adm Off Wuhan Peoples R China Jianghan Univ Sch Artificial Intelligence Wuhan Peoples R China

ISBN: (纸本)9798350334722

At present, because of the shortcomings of traditional visual servo control methods, such as slow convergence speed and camera calibration, an advanced visual servo control method is based on the combination of fuzzy logic and Kalman filter, which is proposed in the paper. In the control method, Kalman filter algorithm is used to estimate image Jacobian matrix online, and fuzzy logic control algorithm is used to design variable control coefficient instead of traditional fixed control coefficient, which not only reduces convergence time of visual servo control system, but also avoids complex phase machine calibration, saves a lot of time, and improves work efficiency. Finally, the effectiveness and superiority of the proposed control method are verified by experiment simulation.

关键词： visual servo control control Algorithm Kalman Filter Fuzzy Logic

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2-D automatic micrograsping tasks performed by visual servo control

2-D automatic micrograsping tasks performed by visual servo ...

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IEEE International Symposium on Industrial Electronics

作者： Ren, Lu Wang, Lidai Mills, James K. Sun, Dong Univ Toronto Dept Mech & Ind Engn 5 Kings Coll Rd Toronto ON M5S 3G8 Canada City Univ Hong Kong Dept Mfg Engn & Engn Management Kowloon Peoples R China

ISBN: (纸本)9781424407545

In this paper, we propose a visual servo control approach and develop the corresponding software to perform micrograsping tasks in a two-dimension plane.(2-D). Specifically, using a 6 degree-of-freedom (DOF) robotic manipulator to manipulate a micro-gripper and automatically grasp a micro-part. In the proposed control scheme, two types of position feedback signals are utilized. One is the relative positions of the micro-part with respect to the micro-gripper measured by the developed computer vision system, which is used for visual servo control. The other is the absolute displacements of the micro-part measured by the fixed linear encoders, which is used to check the corresponding motions. The whole control software is developed by LabVIEW, to improve operation speed. Furthermore, a two-stage grasping strategy is employed: in the first stage, pattern-matching is performed once and the bonded micro-gripper is controlled, to directly reach a specific position adjacent to the mating edge of a designated micro-part with the same gamma coordinate;in the second stage, pattern-matching is performed at each control update interval while the micro-gripper is displaced towards the micro-part with steps on the order of one micron magnitude, until the micro-part is completely grasped. Experiments conducted on a 6-DOF experimental manipulator demonstrate the efficiency and validity of the proposed control approach and grasping strategy.

关键词： microassembly visual servo control 2-D

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A Geometric Approach to visual servo control in the Absence of Reference Image

A Geometric Approach to Visual Servo Control in the Absence ...

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IEEE International Conference on Systems, Man and Cybernetics (SMC)

作者： Mehta, S. S. Curtis, J. W. Univ Florida Res & Engn Educ Fac Shalimar FL 32579 USA Air Force Res Lab Munit Directorate Eglin AFB FL 32542 USA

ISBN: (纸本)9781457706530

In this paper, we formulate a visual servo control problem when a reference image corresponding to the desired position and orientation (i.e., pose) of a camera is not available. The desired pose is described in terms of the introduced angle of incidence and point of arrival of a camera coordinate frame. The presented problem is motivated by the application of homing missiles where a reference image may not be available and the angle of contact with a target is crucial to maximizing the target penetration. A new geometric approach is presented to formulate a rotation error system that minimizes the required control effort while achieving the desired angle of incidence. A nonlinear adaptive control law is developed to provide 6 degrees of freedom camera motion while compensating for an unknown target depth;stability analysis is presented to prove asymptotic regulation of the system states. High-fidelity numerical simulation results are provided to verify the performance of the proposed visual servo controller.

关键词： visual servo control adaptive control Euclidean homography

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A test-bed for visual servo control of artificial muscle micro-robot with parallel architecture

A test-bed for visual servo control of artificial muscle mic...

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IEEE International Conference on Mechatronics and Automation

作者： Wang, Xiaoyun Wang, Lidai Guo, Shuxiang Mills, James K. Univ Toronto Dept Mech & Ind Engn 5 Kings Coll Rd Toronto ON M5S 3GB Canada Kagawa Univ Fac Engn Takamatsu Kagawa Japan

ISBN: (纸本)1424404657

Artificial muscles, or soft smart materials, are being increasingly used to build micro-manipulators. Electroactive polymer (EAP) actuators, including electronic EAP and ionic EAP, are attracting interest from research community because of their potential to achieve high strains and therefore high displacements. However, their application is limited by their ability to generate large forces. A parallel architecture, i.e. handling objects using multiple polymer actuators, can greatly enhance their load, carrying ability. A significant technical challenge presented by micro-manipulators based on artificial muscle actuators is the nonlinearity of actuator dynamics. Currently, there is no satisfactory model that can used in the control design. *** IVS) control of the displacements of a robot in closed-loop using the data provided by one or multiple cameras is presented as a possible approach to this problem. A parallel architecture micro-gripper is designed as a prototype of a micro-gripper. A vision system is developed to identify dynamic behaviors of IPMC arms and design a control system for the parallel micro-gripper. Preliminary identification and control results are given. visual servoing motion control is introduced.

关键词： electro- active polymer (EAP) visual servo control Parallel Architecture Micro-Robot

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Disturbance Observer-based Model Predictive visual servo control of Underwater Vehicles

Disturbance Observer-based Model Predictive Visual Servo Con...

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OCEANS - MTS/IEEE Kobe Techno-Oceans Conference (OTO)

作者： Gao, Jian Zhang, Guangjie Wu, Puguo Yan, Weisheng Northwestern Polytech Univ Sch Marine Sci & Technol Xian Shaanxi Peoples R China

ISBN: (纸本)9781538616543

In this paper, a disturbance observer-based model predictive controller (DO-MPC) is designed for image-based visual servoing (IBVS) of underwater vehicles subject to field-of-view constraint, actuator saturation, and external disturbances. In the proposed DO-MPC controller, the visual kinematic model and the approximate dynamic model are used to predict the future trajectories from the current states driven by input candidates over a certain horizon. The actuator control signals are solved online by optimizing a cost function of predicted trajectories under system constraints. With consideration of external disturbances and dynamic uncertainties, a high-gain disturbance observer is designed to estimate the modeling mismatch. The effectiveness of the proposed DO-MPC IBVS controller is verified by comparative simulations using a fully actuated underwater vehicle.

关键词： Underwater Vehicles visual servo control Model Predictive control Disturbance Observer

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A Hybrid visual servo control System for the Autonomous Mobile Robot

A Hybrid Visual Servo Control System for the Autonomous Mobi...

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IEEE/SICE International Symposium on System Integration (SII)

作者： Lee, Min-Fan Ricky Chiu, Fu Hsin Steven Natl Taiwan Univ Sci & Technol Grad Inst Automat & Control Taipei Taiwan

ISBN: (纸本)9781479926268

The eye-in-hand and eye-to-hand visual servo configuration both have its own merit and limitation. Eye-in-hand configuration provides more precision but less sight of scene covered. Eye-to-hand configuration is on the contrary. PBVS (Position Based visual servo) control suffers from its high sensitivity to model inconsistencies and task conditioning. IBVS (Image Based visual servo) control suffers from it lead to highly nonlinear control algorithms. This paper proposed a hybrid visual servo control system integrating both configurations (eye-in-hand and eye-to-hand) and both schemes (PBVS and IBVS) to overcome the above limitations. A wide-angle camera mounted on ceiling (eye-to-hand, calibration required) and PTZ (Pan-Tilt-Zoom, no calibration required) camera mounted on mobile robot (eye-in-hand) is adopted. Various camera calibration methods are evaluated. Sensing, perception, mapping, localization, path planning and motion control are implemented. The experiment result show an accumulated error in robot trajectory (80 mm - 99 mm). The visibility graph in path planning and Dijktra's shortest path searching algorithm offers the optimal performance. The proposed hybrid system shows the efficiency and effectiveness. The proposed hybrid system provides high field of view coverage and local detailed for the objects invisible to the global system.

关键词： visual servo control autonomous mobile robot Hand hybrid systems servo control system Path planning cumulative error Cameras high field Motor control field of view

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Cell Image Recognition and visual servo control for Automated Cell Injection

Cell Image Recognition and Visual Servo Control for Automate...

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4th International Conference on Autonomous Robots and Agents

作者： Ghanbari, Ali Wang, Wenhui Hann, Christopher E. Chase, J. Geoffrey Chen, XiaoQi Univ Canterbury Dept Mech Engn Christchurch 8140 New Zealand

ISBN: (纸本)9781424427123

This paper presents a micro-robotic bio-mampulation system for automated cell injection, addressing two key challenges. First, this paper reports a human interference-free determination of material deposition destinations based on image processing of the cell structures. Depending on the applications, foreign materials could be deposited inside the nucleus of lite cell or outside but still inside the cytoplasm of the cell Recognition of the nucleoli boundary brings us basic cell structure information, which consequently provides high flexibility to determine the deposition destinations, with no need of the destinations to be selected by an operator. Second, the paper presents a visual servo control design which moves the micropipette lip to the targeted position and deposits foreign materials to that point autonomously. The visual servo control allows the motion settle time within 0.5 sec., with an accuracy of one pixel, which are highly desirable in automated cell injection applications.

关键词： computer vision visual servo control bio-micromanipulation cell injection

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visual servo control for Coordinated Manipulation of a Mobile Two-Arm Robot 33

Visual Servo Control for Coordinated Manipulation of a Mobil...

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33rd Chinese control Conference (CCC)

作者： Yang Tangwen Gao Lining Ruan Qiuqi Han Jianda Beijing Jiaotong Univ Inst Informat Sci Beijing 100044 Peoples R China Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Peoples R China

ISBN: (纸本)9781479947249

Two PZT cameras are used in this paper to realize visual servo control for coordinated manipulation of a mobile two-arm robot. The focus of this study is mainly on the problems of detection, recognition and localization of a target object in an indoor environment of scattered background and varying illumination. First, a modified algorithm is proposed in the HSV color space to detect objects based on updated segmentation thresholds and bounding rectangles, thereby improving its adaptability to illumination variation. Second, the target is identified from the detected objects using the target contour features and the Hu's moment invariants. Then, the spatial coordinates of the target object are obtained with the cameras' perspective matrices, and the target position is determined. Finally, to verify effectiveness of the image processing algorithms presented and the visual servo control, experiments are done on a robot platform to mimic the manipulation of pouring water with two arms, and the results show that the robot system can complete the task successfully.

关键词： Mobile Two-Arm Robot visual servo control Coordinated Manipulation HSV Invariant Moment

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