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Discrete-Time visual servoing control with Adaptive Image Feature Prediction Based on Manipulator Dynamics

SENSORS 2024年第14期24卷 4626页

作者： Liu, Chenlu Ye, Chao Shi, Hongzhe Lin, Weiyang Harbin Inst Technol Res Inst Intelligent Control & Syst Harbin 150001 Peoples R China

In this paper, a practical discrete-time control method with adaptive image feature prediction for the image-based visual servoing (IBVS) scheme is presented. In the discrete-time IBVS inner-loop/outer-loop control architecture, the time delay caused by image capture and computation is noticed. Considering the dynamic characteristics of a 6-DOF manipulator velocity input system, we propose a linear dynamic model to describe the motion of a robot end effector. Furthermore, for better estimation of image features and smoothing of the robot's velocity input, we propose an adaptive image feature prediction method that employs past image feature data and real robot velocity data to adopt the prediction parameters. The experimental results on a 6-DOF robotic arm demonstrate that the proposed method can ensure system stability and accelerate system convergence.

关键词： discrete-time system visual servoing control adaptive prediction manipulator

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Robust visual servoing control for Ground Target Tracking of Quadrotors

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IEEE TRANSACTIONS ON control SYSTEMS TECHNOLOGY 2020年第5期28卷 1980-1987页

作者： Zhao, Wanbing Liu, Hao Lewis, Frank L. Valavanis, Kimon P. Wang, Xinlong Beihang Univ Sch Astronaut Beijing 100191 Peoples R China Beihang Univ Minist Educ Key Lab Spacecraft Design Optimizat & Dynam Simul Beijing 100191 Peoples R China Univ Texas Arlington Univ Texas Arlington Res Inst Ft Worth TX 76118 USA Univ Denver Dept Elect & Comp Engn Denver CO 80208 USA

In this brief, the robust position-based visual servoing control problem is addressed for a quadrotor with a down-facing monocular camera to perform ground target tracking tasks in outdoor environments. The object is to regulate the position of the quadrotor relative to the ground target by using a minimum sensor set, including an inertial measurement unit, an ultrasonic sensor, and a vision sensor. The robust compensators are designed in the visual servoing control system to enhance the robustness against nonlinearities, couplings, and uncertainties, including parameter uncertainties and external disturbances in the translational and rotational quadrotor dynamics. Theoretical analysis and experimental results demonstrate the effectiveness of the proposed robust visual servoing control method.

关键词： visual servoing Vehicle dynamics Target tracking visualization Uncertainty Aerodynamics Nonlinear systems ground target tracking quadrotors robust control visual servoing control

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Toward Fast Convergence and Calibration-Free visual servoing control: A New Image Based Uncalibrated Finite Time control Scheme

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IEEE ACCESS 2020年 8卷 88333-88347页

作者： Chang, Yu Li, Lin Wang, Yongheng You, Kun Tianjin Univ Commerce Sch Art Tianjin 300134 Peoples R China Tianjin Univ Commerce Sch Informat Engn Tianjin 300134 Peoples R China Tianjin Agr Univ Coll Engn & Technol Tianjin 300000 Peoples R China

In this paper, a visual servoing robotic control scheme of fast convergence and calibration-free is proposed. The objective of this paper is to achieve a better convergence around the equilibrium for uncalibrated visual servoing systems. Moreover, there are threefold unknown parameters, the visual kinematic parameters, the dynamic parameters and the parameters of the feature points, considered in the design of the proposed control scheme. In order to achieve the above control objective, the finite-time tracking controller and three adaptive laws are proposed. The adaptability to the unknown parameters is guaranteed by the online adaptive laws. The finite-time convergence is achieved by the continuously non-smooth fractional order function in the controller. The rigorously mathematic proof of stability is given by homogeneous theory and the Lyapunov function formalism. Three real-time experiments are conducted to demonstrate the practical performance of the proposed scheme.

关键词： Cameras visual servoing Convergence Jacobian matrices Kinematics visualization Non-calibration visual servoing control robotic control adaptive control fast convergence

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Adaptive visual servoing control of a Manipulator with Uncertainties in Vision and Dynamics

Adaptive Visual Servoing Control of a Manipulator with Uncer...

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Argentine Conference on Automatic control (AADECA)

作者： Sarapura, Jorge A. Roberti, Flavio Gimenez, Javier Patino, Daniel Carelli, Ricardo Univ Nacl San Juan CONICET Inst Automat San Juan Argentina

ISBN: (纸本)9789874685919

In this paper we present a new adaptive dynamic controller based on vision for tracking objects with a planar manipulator robot in fixed camera configuration, considering the orientation of the camera assembly, the depth of the object and the dynamic parameters of the robot to be uncertain. The control scheme is designed with a vision-based adaptive kinematic controller in charge of executing the task of tracking the object even with unknown parameters of the vision system. This controller provides speed references to a dynamic cascade adaptive controller whose objective is to generate the final control actions of the robot with imprecise knowledge of its dynamics. Finally, it is shown the stability of the proposed system based on the Lyapunov Theory and the performance of the two adaptive controllers through simulations are shown.

关键词： visual servoing control adaptive control manipulator robot

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Fiducial markers applied for pose tracking of a robotic manipulator: application in visual servoing control 13

Fiducial markers applied for pose tracking of a robotic mani...

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13th Latin American Robotics Symposium / 4th Brazilian Robotics Symposium (LARS/SBR)

作者： Vieira, Igor Pereira Neto, Armando Alves Mozelli, Leonardo Amaral UFSJ Grad Program Phys Ouro Branco MG Brazil Univ Fed Minas Gerais Dept Elect Engn Belo Horizonte MG Brazil UFSJ CELTA Ctr Studies Elect Engn & Automat Ouro Branco MG Brazil

ISBN: (纸本)9781509036561

This paper presents the implementation of visual servo control for a robotic manipulator bereft of proprioceptive sensors, employing for such purpose computer vision techniques to infer the joint angles and position coordinates of the system in real-time. Fiducial markers were attached to the links of the manipulator, so that, through a simple camera physically arranged in monocular topology and steady configuration (eye to hand), and a processing and data extraction interface, it is possible to compute the complete spatial configuration of the manipulator and therefore, calculate control laws for it. Regarding this aspect, the manipulator dynamics was disregarded, and a resolved-rate control method was applied, based on the differential kinematics of the robot.

关键词： manipulator robotics visual servoing control

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3D visual servoing control for Robot Manipulators Without Parametric Identification

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IEEE LATIN AMERICA TRANSACTIONS 2015年第3期13卷 569-577页

作者： Perez, M. A. Bueno, M. Univ Nacl Autonoma Mexico DEPFI Mexico City 04510 DF Mexico La Salle Univ Bogota Colombia

visual servoing control of robot manipulators represents a natural option in unstructured environments and it is specially attractive when the task to achieve can be expressed directly in image coordinates. In the present work a control law is developed for trajectory tracking of three degrees of freedom robot manipulators. The main characteristic of the proposed algorithm is that it does not need any dynamic model of the system and image coordinates are employed directly for feedback, while an observer is designed for velocity estimation. To carry out 3d movements no stereoscopic vision is used. Rather, a simpler configuration employing two fixed cameras is proposed which makes unnecessary their calibration and helps avoid occlusions for most of the robot's workspace. The developed theory was successfully tested in an industrial manipulator.

关键词： No cameras calibration observer design unknown dynamic model visual servoing control 3d vision

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Cerebellum-Inspired Model-Free Tracking control and visual servoing of a Rigid-Flexible Hybrid Robotic Endoscope With RCM Constraints

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2023年第12期70卷 12626-12635页

作者： Wang, Xin Tan, Ning Sun Yat Sen Univ Sch Comp Sci & Engn Minist Educ Guangzhou 510275 Peoples R China Sun Yat Sen Univ Key Lab Machine Intelligence & Adv Comp Minist Educ Guangzhou 510275 Peoples R China

This article designs a model-free control scheme based on a cerebellum-inspired network model for tracking control and visual servoing of a surgical rigid-flexible hybrid robotic endoscope. The hybrid robot is composed of a rigid robot manipulator and a flexible endoscope as the end-effector. Inspired by the cerebellum associated with human motion control, we proposed a cerebellum-inspired model-free control scheme for the visual servoing and tracking control of the robotic endoscope with remote center of motion (RCM) constraints, which does not need to know the kinematic model of the robot. This scheme combines liquid state machines (LSMs) and zeroing neural network (ZNN), where the LSM is able to generate control signals and the ZNN is used as the training signal for the LSM. Simulations and physical experiments demonstrate that the proposed cerebellum-inspired control scheme is effective to handle the tracking task under RCM constraints as well as the visual servoing task.

关键词： Index Terms-Liquid state machines (LSMs) remote cen-ter of motion (RCM) visual servoing control zeroing nerual network

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Ground verification of space robot capturing the free-floating target based on visual servoing control with time delay

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 2014年第6期41卷 543-556页

作者： Yang, Haitao Jin, Minghe Xie, Zongwu Sun, Kui Liu, Hong Harbin Inst Technol Sch Mechatron Engn Harbin 150006 Peoples R China

Purpose - The purpose of this paper is to solve the ground verification and test method for space robot system capturing the target satellite based on visual servoing with time-delay in 3-dimensional space prior to space robot being launched. Design/methodology/approach - To implement the approaching and capturing task, a motion planning method for visual servoing the space manipulator to capture a moving target is presented. This is mainly used to solve the time-delay problem of the visual servoing control system and the motion uncertainty of the target satellite. To verify and test the feasibility and reliability of the method in three-dimensional (3D) operating space, a set of ground hardware-in-the-loop simulation verification systems is developed, which adopts the end-tip kinematics equivalence and dynamics simulation method. Findings - The results of the ground hardware-in-the-loop simulation experiment validate the reliability of the eye-in-hand visual system in the 3D operating space and prove the validity of the visual servoing motion planning method with time-delay compensation. At the same time, owing to the dynamics simulator of the space robot added in the ground hardware-in-the-loop verification system, the base disturbance can be considered during the approaching and capturing procedure, which makes the ground verification system realistic and credible. Originality/value - The ground verification experiment system includes the real controller of space manipulator, the eye-in-hand camera and the dynamics simulator, which can veritably simulate the capturing process based on the visual servoing in space and consider the effect of time delay and the free-floating base disturbance.

关键词： Space robot system Dynamics simulator Hardware-in-the-loop simulation visual servoing control Time delay Ground verification system

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Robust visual servoing formation tracking control for quadrotor UAV team

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AEROSPACE SCIENCE AND TECHNOLOGY 2020年 106卷 106061-106061页

作者： Liu, Hao Lyu, Yafei Zhao, Wanbing Beihang Univ Sch Astronaut Beijing 100191 Peoples R China Beihang Univ Key Lab Spacecraft Design Optimizat & Dynam Simul Minist Educ Beijing 100191 Peoples R China

This paper is concerned with the robust visual servoing formation tracking problem for a team of quadrotor unmanned aerial vehicles (UAVs). The quadrotor UAV firstly capturing the target in its camera scope is considered as the current leader to perform the target tracking task and the other quadrotor UAVs follow the current leader with a prescribed formation pattern. When the leader changes, which means the current leader loses the target and the target is captured by another quadrotor UAV, a switching-topology strategy is used to change the leader and guarantee the cooperative work of the quadrotor team. A robust visual servoing switching-topology formation control approach is developed for the quadrotor team, whose model possesses six degrees of freedom subject to the underactuation feature, nonlinear dynamics, parameter uncertainties, and external disturbance. The effectiveness of the theoretical result is validated by theoretical analysis and numerical simulation studies. (C) 2020 Elsevier Masson SAS. All rights reserved.

关键词： Formation control visual servoing control Robust control Nonlinear system Quadrotor UAVs

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Self-coupling robotic system for the SIROM multifunctional interface

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REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL 2023年第3期20卷 269-280页

作者： Bilbao, Daniel Ferrer, Unai Vinals, Javier Guerra, Gonzalo Irigoyen, Eloy Cabanes, Itziar Univ Basque Country Dept Ingn Sistemas & Automat Plaza Ingeniero Torres Quevedo 1 Bilbao 48013 Spain SENER Aerosp Av Zugazarte 56 Getxo 48930 Spain

In order to perform in-orbit servicing tasks autonomously and without the need for human personnel, this work presents the development of a self-coupling robotic system based on cameras and visual markers that allow to facilitate the assembly of the SIROM (Standard Interface for Robotic Manipulation) multifunctional interface, designed by SENER Aeroespacial. For this pur-pose, a visual servoing control has been implemented, achieving autonomous coupling between an active SIROM device used as a robotic manipulator tool and its passive SIROM counterpart coupled to a spatial module. This development will allow this robotic interface to be a cutting-edge reference solution for performing these tasks in the future. The solution presented has been validated by carrying out independent tests for each of the subsystems that make up the prototype developed and, subsequently, the operation of the entire system has been verified in different assembly scenarios and in situations of significant misalignment. The analysis of the results obtained in this work corroborates that the designed prototype successfully achieves the main objective.

关键词： visual servoing control position estimation orientation estimation adaptative control force control robotic manipulation SIROM robotic assembly

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