• Title/Summary/Keyword: image Jacobian

Search Result 66, Processing Time 0.024 seconds

Fuzzy Neural Network-based Visual Servoing : part I (퍼지 신경망을 이용한 시각구동(I))

  • 김태원;서일홍
    • The Transactions of the Korean Institute of Electrical Engineers
    • /
    • v.43 no.6
    • /
    • pp.1010-1019
    • /
    • 1994
  • It is shown that there exists a nonlinear mapping which transforms image features and their changes to the desired camera motion without measuring of the relative distance between the camera and the object. This nonlinear mapping can eliminate several difficulties occurring in computing the inverse of the feature Jacobian as in the usual feature-based visual feedback control methods. Instead of analytically deriving the closed form of this mapping, a Fuzzy Membership Function-based Neural Network (FMFNN) incorporating a Fuzzy-Neural Interpolating Network is used to approximate the nonlinear mapping. Several FMFNN's are trained to be capable of tracking a moving object in the whole workspace along the line of sight. For an effective implementation of the proposed FMF network, an image feature selection process is investigated. Finally, several numerical examples are presented to show the validity of the proposed visual servoing method.

  • PDF

A novel visual servoing techniques considering robot dynamics (로봇의 운동특성을 고려한 새로운 시각구동 방법)

  • 이준수;서일홍;김태원
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1996.10b
    • /
    • pp.410-414
    • /
    • 1996
  • A visual servoing algorithm is proposed for a robot with a camera in hand. Specifically, novel image features are suggested by employing a viewing model of perspective projection to estimate relative pitching and yawing angles between the object and the camera. To compensate dynamic characteristics of the robot, desired feature trajectories for the learning of visually guided line-of-sight robot motion are obtained by measuring features by the camera in hand not in the entire workspace, but on a single linear path along which the robot moves under the control of a, commercially provided function of linear motion. And then, control actions of the camera are approximately found by fuzzy-neural networks to follow such desired feature trajectories. To show the validity of proposed algorithm, some experimental results are illustrated, where a four axis SCARA robot with a B/W CCD camera is used.

  • PDF

Pose alignment control of robot using polygonal approximated gripper images (다각 근사화된 그리퍼 영상을 이용한 로봇의 위치 정렬)

  • Park, Kwang-Ho;Kim, Nam-Seong;Kee, Seok-Ho;Kee, Chang-Doo
    • Proceedings of the KSME Conference
    • /
    • 2000.11a
    • /
    • pp.559-563
    • /
    • 2000
  • In this paper we describe a method for aligning a robot gripper using image information. The region of gripper is represented from HSI color model that has major advantage of brightness independence. In order to extract the feature points for vision based position control, we find the corners of gripper shape using polygonal approximation method which determines the segment size and curvature of each points. We apply the vision based scheme to the task of alignment of gripper to reach the desired position by 2 RGB cameras. Experiments are carried out to exhibit the effectiveness of vision based control using feature points from polygonal approximation of gripper.

  • PDF

A Real-Time Control of SCARA Robot Based Image Feedback (이미지 피드백에 의한 스카라 로봇의 실시간 제어)

  • Lee, Woo-Song;Koo, Young-Mok;Shim, Hyun-Seok;Lee, Sang-Hoon;Kim, Dong-Yeop
    • Journal of the Korean Society of Industry Convergence
    • /
    • v.17 no.2
    • /
    • pp.54-60
    • /
    • 2014
  • The equipment of SCARA robot in processing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not requirethe precise calculation of tree-dimensional object data and image Jacobian.

Construction the pseudo-Hessian matrix in Gauss-Newton Method and Seismic Waveform Inversion (Gauss-Newton 방법에서의 유사 Hessian 행렬의 구축과 이를 이용한 파형역산)

  • Ha, Tae-Young
    • Geophysics and Geophysical Exploration
    • /
    • v.7 no.3
    • /
    • pp.191-196
    • /
    • 2004
  • Seismic waveform inversion can be solved by using the classical Gauss-Newton method, which needs to construct the huge Hessian by the directly computed Jacobian. The property of Hessian mainly depends upon a source and receiver aperture, a velocity model, an illumination Bone and a frequency content of source wavelet. In this paper, we try to invert the Marmousi seismic data by controlling the huge Hessian appearing in the Gauss-Newton method. Wemake the two kinds of he approximate Hessian. One is the banded Hessian and the other is the approximate Hessian with automatic gain function. One is that the 1st updated velocity model from the banded Hessian is nearly the same of the result from the full approximate Hessian. The other is that the stability using the automatic gain function is more improved than that without automatic gain control.

A Distributed Electrical Impedance Tomography Algorithm for Real-Time Image Reconstruction (실시간 영상 복원을 위한 분산 전기단층촬영 알고리즘)

  • Junghoon Lee;Gyunglin Park
    • Journal of KIISE:Computing Practices and Letters
    • /
    • v.10 no.1
    • /
    • pp.25-36
    • /
    • 2004
  • This paper proposes and measures the performance of a distributed EIT (Electrical Impedance Tomography) image reconstruction algorithm which has a master-slave structure. The image construction is a computation based application of which the execute time is proportional to the cube of the unknowns. After receiving a specific frame from the master, each computing node extracts the basic elements by executing the first iteration of Kalman Filter in parallel. Then the master merges the basic element lists into one group and then performs the sequential iterations with the reduced number of unknowns. Every computing node has MATLAB functions as well as extended library implemented for the exchange of MATLAB data structure. The master implements another libraries such as threaded multiplication, partitioned inverse, and fast Jacobian to improve the speed of the serial execution part. The parallel library reduces the reconstruction time of image visualization about by half, while the distributed grouping scheme further reduces by about 12 times for the given target object when there are 4 computing nodes.

011-line Visual Feedback Control of Industrial Robot Manipulator (산업용 로봇 매니퓰레이터의 오프라인 영상피드백 제어)

  • 신행봉;정동연;김용태;이종두;이강두
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
    • /
    • 2002.04a
    • /
    • pp.567-572
    • /
    • 2002
  • The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS ). We can save much efforts and time in adjusting robots to newly defined workcells by using Off-Line Programming System. A proposed visual calibration scheme is based on position-based visual feedback. The visual calibration system is composed of a personal computer, an image processing board, a video monitor, and one camera. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.

  • PDF

Off-line Visual Feedback Control of Robot Manipulator (로봇 매니퓰레이터의 오프라인 영상피드백 제어)

  • 신행봉;정동연;이종두;이강두;한성현
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
    • /
    • 2001.10a
    • /
    • pp.140-145
    • /
    • 2001
  • The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using Off-Line Programming System. A proposed visual calibration scheme is based on position-based visual feedback. The visual calibration system is composed of a personal computer, an image processing board, a video monitor, and one camera. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.

  • PDF

A Study on Visual Feedback Control of Industrial Articulated Robot

  • Shim, Byoung-Kyun;Lee, Woo-Song;Park, In-Man;hwang, Won-Jun;Choi, Young-Sik
    • Journal of the Korean Society of Industry Convergence
    • /
    • v.17 no.1
    • /
    • pp.27-34
    • /
    • 2014
  • This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

Off-line Visual Feedback Control of SCARA Robot Using Off Line Programming (오프라인 프로그래밍을 이용한 스카라 로봇의 비쥬얼 피드백제어)

  • 신행봉;이우송;이현철;한성현
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
    • /
    • 2004.04a
    • /
    • pp.235-240
    • /
    • 2004
  • The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test and construction of simple silhouette figures. Then camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.

  • PDF