Three-Layered Control Architecture for Microassembly with Human-Robot Task Plan Interaction

Lv, Xiadong; Huang, Xinhan

doi:10.1109/robio.2004.1521851

Cited by 5 publications

(3 citation statements)

References 7 publications

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“…Object tracking is an important component of a micro visual servoing based micro assembly system [20, 30]. The system is controlled by two levels of computer control systems and consists of three parts: a micromanipulator unit, a stereo microscopic vision unit and a micro grippers unit.…”

Section: Resultsmentioning

confidence: 99%

Target Tracking for Visual Servoing Systems Based on an Adaptive Kalman Filter

Liu

Huang

Wang

2012

International Journal of Advanced Robotic Systems

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Visual servoing has been around for decades, but time delay is still one of the most troublesome problems to achieve target tracking. To circumvent the problem, in this paper, the Kalman filter is employed to estimate the future position of the object. In order to introduce the Kalman filter, accurate time delays, which include the processing lag and the motion lag, need to be obtained. Thus, the delays of the visual control servoing systems are discussed and a generic timing model for the system is provided. Then, we present a current statistical model for a moving target. A fuzzy adaptive Kalman filter, which is evolved from the Kalman filter, is introduced based on the current statistical model. Finally, a two DOF visual controller based variable structure control law for micro-manipulation is presented. The results show that the proposed adaptive Kalman filter can improve the ability to track moving targets.

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Section: Resultsmentioning

confidence: 99%

Target Tracking for Visual Servoing Systems Based on an Adaptive Kalman Filter

Liu

Huang

Wang

2012

International Journal of Advanced Robotic Systems

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“…The travel range of rotation is 360° continuous with resolution 0.01°. A more detailed introduction to the system can be found in [12].…”

Section: Resultsmentioning

confidence: 99%

A Dynamic Active Contour Model for Visual Tracking of Robotic Manipulator Motion Trajectory

Huang

2006

2006 6th World Congress on Intelligent Control and Automation

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Visual tracking of motion trajectory is a typical issue in visual servo control of robotic manipulator. A dynamic active contour model is proposed to track robotic motion in captured image sequences. It converges at the trajectory distribution to get minimum energy of snake functional. The manipulator can be localized through searching the converged energy points set in spatio-temporal space. Energy weights in the function are real-time adjusted to avoid local minima during convergence. To improve snake searching efficiency, quadratic trajectory least square estimator is utilized to predict manipulator motion position before tracking. A fast visual tracking algorithm was developed integrated with the dynamic snake model and the least square trajectory estimator. Experimental results of micromanipulator motion tracking demonstrate the performance of the proposed approach.

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“…Some authors have investigated the problem of organizing optimally the control architecture of the microassembly system by proposing a multiple level paradigm [13,25].…”

Section: Overviewmentioning

confidence: 99%

Robotic micromanipulation for microassembly: modelling by sequencial function chart and achievement by multiple scale visual servoings

Tamadazte

Fort-Piat²,

Dembélé³

et al. 2009

J. Micro-Nano Mech.

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The paper investigates robotic assembly by focusing on the manipulation of microparts. This task is formalized through the notion of basic tasks which are organized in a logical sequence represented by a function chart and interpreted as the model of the behavior of the experimental setup. The latter includes a robotic system, a gripping system, an imaging system, and a clean environment. The imaging system is a photon videomicroscope able to work at multiple scales. It is modelled by a linear projective model where the relation between the scale factor and the magnification or zoom is explicitly established. So, the usual visual control law is modified in order to take into account this relation. The manipulation of some silicon microparts (400 μm × 400 μm × 100 μm) by means of a distributed robotic system (xyθ system, ϕz system), a twofinger gripping system and a controllable zoom and focus videomicroscope shows the relevance of the concepts. The 30% of failure rate comes mainly from the physical phenomena (electrostatic and capillary forces) instead of the accuracy of control or the occultations of microparts.

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Three-Layered Control Architecture for Microassembly with Human-Robot Task Plan Interaction

Cited by 5 publications

References 7 publications

Target Tracking for Visual Servoing Systems Based on an Adaptive Kalman Filter

Target Tracking for Visual Servoing Systems Based on an Adaptive Kalman Filter

A Dynamic Active Contour Model for Visual Tracking of Robotic Manipulator Motion Trajectory

Robotic micromanipulation for microassembly: modelling by sequencial function chart and achievement by multiple scale visual servoings

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