Proceedings ArticleDOI
An eye-in-hand stereo visual servoing for tracking and catching moving objects
Abolfazl Mohebbi,Mohammad Keshmiri,Wen-Fang Xie +2 more
- pp 8570-8577
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TLDR
An image-based eye-in-hand stereo visual servoing system for a stereo vision system mounted on the end-effector of 6 degrees of freedom (DOF) robot to perform a task of tracking and catching a moving object in real time.Abstract:
In this paper an image-based eye-in-hand stereo visual servoing system is proposed to perform a task of tracking and catching a moving object in real time. The presented method utilizes the conventional image based visual servoing algorithm for a stereo vision system mounted on the end-effector of 6 degrees of freedom (DOF) robot. In order to estimate the object motion trajectory in two dimensional image planes and predict the future positions, a Kalman filter with a linear model of the moving object and also an extended Kalman filter (EKF) with a non-linear model are employed. The procedure of tracking and catching a moving object is simulated and implemented based on a 6 DOF DENSO 6242G robot. Both simulation and experimental results are presented to verify the effectiveness of the proposed methods. The comparison with the case of a monocular image-based system is carried out.read more
Citations
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The Machine Vision Toolbox : A MATLAB Toolbox for vision and vision-based control
TL;DR: An open-source toolbox for machine vision called Machine Vision Toolbox (MVT), which includes more than 60 functions including image file reading and writing, acquisition, display, filtering, blob, point and line feature extraction, mathematical morphology, homographies, visual Jacobians, camera calibration, and color space conversion is described.
Journal ArticleDOI
Comprehensive Review on Reaching and Grasping of Objects in Robotics
TL;DR: An extensive review of research directions and topics of different approaches such as sensing, learning and gripping, which have been implemented within the current five years are presented.
Journal ArticleDOI
Multi-criteria fuzzy decision support for conceptual evaluation in design of mechatronic systems: a quadrotor design case study
TL;DR: To facilitate fitting the intuitive requirements for decision-making in the presence of interacting criteria, three different methods are proposed and compared using a case study of designing a vision-guided quadrotor drone system and it is shown that although the Sugeno fuzzy can be a useful aggregation function for decisions under uncertainty, the approaches using Choquet fuzzy and fuzzy integral-based neural network seem to be more precise and reliable in a multi-criteria design problem.
Proceedings ArticleDOI
Accuracy enhancement of industrial robots by on-line pose correction
TL;DR: In this article, a cost-effective dynamic pose correction (DPC) strategy was proposed to address the issues on the accuracy enhancement of industrial robots, which uses a photogrammetry based 6D measurement device to track the position and orientation of the robot's end-effector in real-time.
Journal ArticleDOI
Integrated and concurrent detailed design of a mechatronic quadrotor system using a fuzzy-based particle swarm optimization
TL;DR: A fuzzy-based approach for the modeling of a unified performance evaluation index in the detailed design phase that acts as a multidisciplinary objective function aggregating all the design criteria and requirements from various disciplines and subsystems while taking into account the interactions and correlations among the objectives.
References
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Journal ArticleDOI
A tutorial on visual servo control
TL;DR: This article provides a tutorial introduction to visual servo control of robotic manipulators by reviewing the prerequisite topics from robotics and computer vision, including a brief review of coordinate transformations, velocity representation, and a description of the geometric aspects of the image formation process.
An Introduction to the Kalman Filter
Greg Welch,Gary Bishop +1 more
TL;DR: The discrete Kalman filter as mentioned in this paper is a set of mathematical equations that provides an efficient computational (recursive) means to estimate the state of a process, in a way that minimizes the mean of the squared error.
Journal ArticleDOI
Visual servo control. I. Basic approaches
TL;DR: This paper is the first of a two-part series on the topic of visual servo control using computer vision data in the servo loop to control the motion of a robot using basic techniques that are by now well established in the field.
Journal ArticleDOI
Visual servo control. II. Advanced approaches [Tutorial]
TL;DR: This tutorial has only considered velocity controllers, which is convenient for most of classical robot arms and geometrical features coming from a classical perspective camera is considered.
Journal ArticleDOI
Dynamic sensor-based control of robots with visual feedback
TL;DR: Simulation studies of two- and three-degree-of-freedom systems show the application of an adaptive control algorithm to overcome unknown and nonlinear relations in the feature to world space mapping.
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