Video-Rate Visual Servoing for Robots

Corke, Peter; Paul, Rohan

doi:10.21236/ada218711

Cited by 18 publications

(5 citation statements)

References 15 publications

(18 reference statements)

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“…Synchronizing measurement is carried out via Digital input and output lines that are associated with the control system via the communication port RS 232/422. Figure 5 shows the inspection camera system OMRON F150-3 [2].…”

Section: Assembly Processmentioning

confidence: 99%

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Using of Assembly Cell with SCARA Robot to Education of Teachers at Secondary Vocational Schools

Baláž

Vagaš

Hajduk

2016

AMM

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This article presents the possibilities of education of teachers in secondary vocational schools in the field of robotics. It is possible to use the assembly cell with SCARA robot, which is provided with a visual recognition system components. The second option consists of the use of virtual laboratory. Virtual laboratory enabling projects to work with robots, NC machines, conveyors and other types of objects. The solution is a system for recording special marks under which a computer generates the appropriate object.

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Section: Assembly Processmentioning

confidence: 99%

“…Control assembly workstation provide two PLC Omron CP1H-type units and CP1E. Camera system connection with the control unit PLC CP1H provided via RS232C PLC CP1L [2]. The control unit is realized by a touch panel where we can choose from two modes -manual and automatic.…”

Section: Assembly Processmentioning

confidence: 99%

Using of Assembly Cell with SCARA Robot to Education of Teachers at Secondary Vocational Schools

Baláž

Vagaš

Hajduk

2016

AMM

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“…The developed vision system is a combination of image‐ and position‐based control system (Hutchinson et al , 1996; Corke, 1996). The image‐based analysis is used for the identification of the fabric's shape, the needle‐point and the sewing line's orientation.…”

Section: Robot Handling Of Flexible Sheets Towards Sewingmentioning

confidence: 99%

A robotic system based on fuzzy visual servoing for handling flexible sheets lying on a table

Zacharia

Aspragathos²,

Mariolis³

et al. 2009

Industrial Robot: An International Journal

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PurposeThe purpose of this paper is to present a flexible automation system for the manipulation of fabrics lying on a work table and focuses on the design of a robot control system based on visual servoing and fuzzy logic for handling flexible sheets lying on a table. The main contribution of this paper is that the developed system tolerates deformations that may appear during robot handling of fabrics due to buckling without the need for fabric rigidization.Design/methodology/approachThe vision system, consisting of two cameras, extracts the features that are necessary for handling the fabric despite possible deformations or occlusion from the robotic arm. An intelligent controller based on visual servoing is implemented enabling the robot to handle a variety of fabrics without the need for a mathematical model or complex mathematical/geometrical computations. To enhance its performance, the conventional fuzzy logic controller is tuned through genetic algorithms and an adaptation mechanism and the respective performance is evaluated. The experiments show that the proposed robotic system is flexible enough to handle various fabrics and robust in handling deformations that may change fabric's shape due to buckling.FindingsThe experiments show that the proposed robotic system is flexible enough to handle various fabrics and robust in handling deformations that may change fabric's shape due to buckling.Research limitations/implicationsIt is not possible to cover all the aspects of robot handling of flexible materials in this paper, since there are still several related issues requiring solutions. Considering the future research work, the proposed approach can be extended to sew fabrics with curved edges and correcting the distortions presented during robot handling of fabrics.Practical implicationsThe paper includes implications for robot handling a variety of fabrics with low and medium bending rigidity on a working table. The intent of this paper deals with buckling in context of achieving a successful seam tracking and not the correction strategy against folding or wrinkling problems.Originality/valueThis paper fulfils an identified need to study the fabrics' behavior towards robot handling on a working table.

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“…Visual tracking has several other areas of application as well, including the inspection, grasping, and assembly of parts on moving conveyors or in environments that are difficult to calibrate (e.g., satellite docking in outer space, autonomous vehicle navigation, etc.). Although several researchers have studied eye-in-hand visual servoing, for example (Weiss et al 1987;Allen 1989;Corke and Paul 1989;Feddema and Lee 1990;Papanikolopoulos et al 1991;Espiau et al 1992; Hashimoto and Kimura 1993;Wilson 1993), these proposed visual servoing techniques can be quite difficult to use in practice because of the limited workspace with which objects can be tracked.…”

Section: Introductionmentioning

confidence: 99%

Strategies for Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance

Nelson

Khosla

1995

The International Journal of Robotics Research

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An eye-in-hand system visually tracking objects can fail when the manipulator encounters a kinematic singularity or a joint limit. A solution to this problem is presented in which objects are visually tracked while the manipulator simultaneously avoids kinematic singularities and manipulator joint limits by moving in directions along which the tracking task space is unconstrained or redundant. A manipulability measure is introduced into the visual tracking objective function, providing an elegant and robust technique for deriving a control law that visually tracks objects while accounting for the configuration of the manipulator. Two different tracking strategies, one using a standard visual tracking strategy and the other using the newly proposed strategy, are experimentally compared on an actual hand/eye system. The experimental results demonstrate the effectiveness of the new method by showing that the tracking region of a manipulator tracking objects with planar motion can be greatly increased.

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Video-Rate Visual Servoing for Robots

Cited by 18 publications

References 15 publications

Using of Assembly Cell with SCARA Robot to Education of Teachers at Secondary Vocational Schools

Using of Assembly Cell with SCARA Robot to Education of Teachers at Secondary Vocational Schools

A robotic system based on fuzzy visual servoing for handling flexible sheets lying on a table

Strategies for Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance

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