• Title/Summary/Keyword: Position-based visual servo control

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Target Tracking of the Wheeled Mobile Robot using the Combined Visual Servo Control Method (혼합 비주얼 서보 제어 기법을 이용한 이동로봇의 목표물 추종)

  • Lee, Ho-Won;Kwon, Ji-Wook;Hong, Suk-Kyo;Chwa, Dong-Kyoung
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.60 no.6
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    • pp.1245-1254
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    • 2011
  • This paper proposes a target tracking algorithm for wheeled mobile robots using in various fields. For the stable tracking, we apply a vision system to a mobile robot which can extract targets through image processing algorithms. Furthermore, this paper presents an algorithm to position the mobile robot at the desired location from the target by estimating its relative position and attitude. We show the problem in the tracking method using the Position-Based Visual Servo(PBVS) control, and propose a tracking method, which can achieve the stable tracking performance by combining the PBVS control with Image-Based Visual Servo(IBVS) control. When the target is located around the outskirt of the camera image, the target can disappear from the field of view. Thus the proposed algorithm combines the control inputs with of the hyperbolic form the switching function to solve this problem. Through both simulations and experiments for the mobile robot we have confirmed that the proposed visual servo control method is able to enhance the stability compared to of the method using only either PBVS or IBVS control method.

Posture Stabilization Control for Mobile Robot using Marker Recognition and Hybrid Visual Servoing (마커인식과 혼합 비주얼 서보잉 기법을 통한 이동로봇의 자세 안정화 제어)

  • Lee, Sung-Goo;Kwon, Ji-Wook;Hong, Suk-Kyo;Chwa, Dong-Kyoung
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.60 no.8
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    • pp.1577-1585
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    • 2011
  • This paper proposes a posture stabilization control algorithm for a wheeled mobile robot using hybrid visual servo control method with a position based and an image based visual servoing (PBVS and IBVS). To overcome chattering phenomena which were shown in the previous researches using a simple switching function based on a threshold, the proposed hybrid visual servo control law introduces the fusion function based on a blending function. Then, the chattering problem and rapid motion of the mobile robot can be eliminated. Also, we consider the nonlinearity of the wheeled mobile robot unlike the previous visual servo control laws using linear control methods to improve the performances of the visual servo control law. The proposed posture stabilization control law using hybrid visual servoing is verified by a theoretical analysis and simulation and experimental results.

A study on Development of Precise Orientation control Algorithm of the Mobile Robot Based Vision Technology (비전기술에 의한 모바일 로봇의 정밀 자세 제어 알고리즘 개발에 관한 연구)

  • Sim, Hyun-Seok;Kim, Tae-Gwan
    • Journal of the Korean Society of Industry Convergence
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    • v.18 no.2
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    • pp.129-138
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    • 2015
  • This study describe a new method to control posture and velocity for a wheeled mobile robot using visual feedback control method with a position based visual feedback. To slove the problem of vibration phenomena which were shown in the previous researches using a simple switching function based on a threshold, the proposed visual servo control law introduces the fusion function based on a blending function. The chattering problem and rapid motion of the mobile robot can be eliminated. And we consider the nonlinearity of the wheeled mobile robot unlike the previous visual servo control laws using linear control methods to improve the performances of the visual servo control law. The proposed posture control law using visual servoing is verified by a theoretical analysis and simulation and experimental results.

Design of Visual Servo Controller using Color Coordinate System Transformation in Mobile Robot (컬러 좌표계 변환을 이용한 이동로봇의 시각 서보 제어기의 설계)

  • 노창균;이기철;이양희;박민용
    • Proceedings of the IEEK Conference
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    • 1999.11a
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    • pp.629-632
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    • 1999
  • In this paper, color coordinate system transformation based visual servo controller has been considered. Mobile robot always has a position error and an orientation error resulted from wheel slipping etc.. Even more, the errors have accumulative properties. So feedback from environments is important. In this paper, by using color model faster land mark extraction can be achieved. And the global position and the orientation of mobile robot can be known by only two land marks positions in image coordinate system. Finally, the adoption of visual information in path tracking problem makes visual servo control.

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Design of Visual Servo Controller using Color Coordinate System Transformation in Mobile Robot

  • Noh, Chang-Kyun;Park, Mignon
    • Proceedings of the IEEK Conference
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    • 2000.07b
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    • pp.591-595
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    • 2000
  • In this paper color coordinate system transformation based visual servo controller has been considered Mobile robot always has a position error and an orientation error resulted from wheel slipping etc.. Even more, the errors have accumulative properties. So feedback from environments is important. In this paper by using color model faster land mark extraction can be achieved. And the global position and the orientation of mobile robot can be known by only two land mark positions in image coordinate system. Finally, the adoption of visual information in path tracking problem makes visual servo control.

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Visual servo control of robots using fuzzy-neural-network (퍼지신경망을 이용한 로보트의 비쥬얼서보제어)

  • 서은택;정진현
    • 제어로봇시스템학회:학술대회논문집
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    • 1994.10a
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    • pp.566-571
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    • 1994
  • This paper presents in image-based visual servo control scheme for tracking a workpiece with a hand-eye coordinated robotic system using the fuzzy-neural-network. The goal is to control the relative position and orientation between the end-effector and a moving workpiece using a single camera mounted on the end-effector of robot manipulator. We developed a fuzzy-neural-network that consists of a network-model fuzzy system and supervised learning rules. Fuzzy-neural-network is applied to approximate the nonlinear mapping which transforms the features and theire change into the desired camera motion. In addition a control strategy for real-time relative motion control based on this approximation is presented. Computer simulation results are illustrated to show the effectiveness of the fuzzy-neural-network method for visual servoing of robot manipulator.

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An Auto-Tunning Fuzzy Rule-Based Visual Servoing Algorithm for a Alave Arm (자동조정 퍼지룰을 이용한 슬레이브 암의 시각서보)

  • Kim, Ju-Gon;Cha, Dong-Hyeok;Kim, Seung-Ho
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.20 no.10
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    • pp.3038-3047
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    • 1996
  • In telerobot systems, visual servoing of a task object for a slave arm with an eye-in-hand has drawn an interesting attention. As such a task ingenerally conducted in an unstructured environment, it is very difficult to define the inverse feature Jacobian matrix. To overcome this difficulty, this paper proposes an auto-tuning fuzzy rule-based visual servo algorithm. In this algorithm, a visual servo controller composed of fuzzy rules, receives feature errors as inputs and generates the change of have position as outputs. The fuzzy rules are tuned by using steepest gradient method of the cost function, which is defined as a quadratic function of feature errors. Since the fuzzy rules are tuned automatically, this method can be applied to the visual servoing of a slave arm in real time. The effctiveness of the proposed algorithm is verified through a series of simulations and experiments. The results show that through the learning procedure, the slave arm and track object in real time with reasonable accuracy.

A Study on Feature-Based Visual Servoing Control of Robot System by Utilizing Redundant Feature

  • Han, Sung-Hyun;Hideki Hashimoto
    • Journal of Mechanical Science and Technology
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    • v.16 no.6
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    • pp.762-769
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    • 2002
  • This paper presents how effective it is to use many features for improving the speed and accuracy of visual servo systems. Some rank conditions which relate the image Jacobian to the control performance are derived. The focus is to describe that the accuracy of the camera position control in the world coordinate system is increased by utilizing redundant features in this paper. It is also proven that the accuracy is improved by increasing the number of features involved. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm robot manipulator made by Samsung Electronic Co. Ltd..

The Development of Underwater Robotic System and Its application to Visual Inspection of Nuclear Reactor Internals (수중로봇 시스템의 개발과 원자로 압력용기 육안검사에의 적용)

  • 조병학;변승현;신창훈;양장범
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2004.10a
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    • pp.1327-1330
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    • 2004
  • An underwater robotic system has been developed and applied to visual inspection of reactor vessel internals. The Korea Electric Power Robot for Visual Test (KeproVt) consists of an underwater robot, a vision processor-based measuring unit, a master control station and a servo control station. The robot guided by the control station with the measuring unit can be controlled to have any motion at any position in the reactor vessel with $\pm$1 cm positioning and $\pm$2 degrees heading accuracies with enough precision to inspect reactor internals. A simple and fast installation process is emphasized in the developed system. The developed robotic system was successfully deployed at the Younggwang Nuclear Unit 1 for the visual inspection of reactor internals.

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Controlling robot by image-based visual servoing with stereo cameras

  • Fan, Jun-Min;Won, Sang-Chul
    • Proceedings of the Korea Society of Information Technology Applications Conference
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    • 2005.11a
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    • pp.229-232
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    • 2005
  • In this paper, an image-based "approach-align -grasp" visual servo control design is proposed for the problem of object grasping, which is based on the binocular stand-alone system. The basic idea consists of considering a vision system as a specific sensor dedicated a task and included in a control servo loop, and we perform automatic grasping follows the classical approach of splitting the task into preparation and execution stages. During the execution stage, once the image-based control modeling is established, the control task can be performed automatically. The proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories by using the Jacobian matrix, which is proved by the Lyapunov stability theory. And we also stress the importance of projective invariant object/gripper alignment. The alignment between two solids in 3-D projective space can be represented with view-invariant, more precisely; it can be easily mapped into an image set-point without any knowledge about the camera parameters. The main feature of this method is that the accuracy associated with the task to be performed is not affected by discrepancies between the Euclidean setups at preparation and at task execution stages. Then according to the projective alignment, the set point can be computed. The robot gripper will move to the desired position with the image-based control law. In this paper we adopt a constant Jacobian online. Such method describe herein integrate vision system, robotics and automatic control to achieve its goal, it overcomes disadvantages of discrepancies between the different Euclidean setups and proposes control law in binocular-stand vision case. The experimental simulation shows that such image-based approach is effective in performing the precise alignment between the robot end-effector and the object.

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