Dynamic tracking of moving objects in microassembly through visual servoing

2010 ◽  
Author(s):  
Henry K. Chu ◽  
James K. Mills ◽  
William L. Cleghorn
Keyword(s):  
Visual Servoing ◽  
Moving Objects ◽  
Dynamic Tracking

scholarly journals Catadioptric panoramic stereovision for humanoid robots

Robotica ◽  
2011 ◽  
Vol 30 (5) ◽  
pp. 799-811 ◽  
Author(s):  
C. Salinas ◽  
H. Montes ◽  
G. Fernandez ◽  
P. Gonzalez de Santos ◽  
M. Armada
Keyword(s):  
Visual Servoing ◽  
Humanoid Robot ◽  
Moving Objects ◽  
Control Strategies ◽  
Depth Estimation ◽  
Humanoid Robots ◽  
Robust Detection ◽  
Motion System ◽  
Wide Range ◽  
3D Information

SUMMARYThis paper proposes a novel design of a reconfigurable humanoid robot head, based on biological likeness of human being so that the humanoid robot could agreeably interact with people in various everyday tasks. The proposed humanoid head has a modular and adaptive structural design and is equipped with three main components: frame, neck motion system and omnidirectional stereovision system modules. The omnidirectional stereovision system module being the last module, a motivating contribution with regard to other computer vision systems implemented in former humanoids, it opens new research possibilities for achieving human-like behaviour. A proposal for a real-time catadioptric stereovision system is presented, including stereo geometry for rectifying the system configuration and depth estimation. The methodology for an initial approach for visual servoing tasks is divided into two phases, first related to the robust detection of moving objects, their depth estimation and position calculation, and second the development of attention-based control strategies. Perception capabilities provided allow the extraction of 3D information from a wide range of visions from uncontrolled dynamic environments, and work results are illustrated through a number of experiments.

scholarly journals A New Dataset of People Flow in an Industrial Site with UWB and Motion Capture Systems

Sensors ◽  
2020 ◽  
Vol 20 (16) ◽  
pp. 4511
Author(s):  
Mickael Delamare ◽  
Fabrice Duval ◽  
Remi Boutteau
Keyword(s):  
Motion Capture ◽  
Moving Objects ◽  
Wide Band ◽  
Ultra Wide Band ◽  
Industrial Site ◽  
Precise Information ◽  
Industrial Sites ◽  
Dynamic Tracking ◽  
Access Regulation ◽  
Motion Capture Systems

Improving performance and safety conditions in industrial sites remains a key objective for most companies. Currently, the main goal is to be able to dynamically locate both people and goods on the site. Security and access regulation to restricted areas are often ensured by doors or badge barriers and those have several issues when faced with people being in places they are not supposed to be in or even tools of objects being used incorrectly. In addition to this, a growing use of new devices requires precise information about their location in the environment such as mobile robots or drones. Therefore, it is becoming essential to have the tools to dynamically manage these flows of people and goods. Ultra-wide-band and motion capture solutions will be used to quickly identify people who may be in unauthorized areas or performing tasks which they have been uninstructed to do. In addition to the dynamic tracking of people, this also overcomes some issues associated with moving objects or tools around the production floor. We offer a new set of data that provides precise information on worker movement. This dataset can be used to develop new metrics regarding worker efficiency and safety.

scholarly journals Adaptive 3D Visual Servoing of a Scara Robot Manipulator with Unknown Dynamic and Vision System Parameters

Automation ◽  
2021 ◽  
Vol 2 (3) ◽  
pp. 127-140
Author(s):  
Jorge Antonio Sarapura ◽  
Flavio Roberti ◽  
Ricardo Carelli
Keyword(s):  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Moving Objects ◽  
Robot Manipulator ◽  
Vision System ◽  
Robot Dynamics ◽  
Complete Control ◽  
Scara Robot ◽  
Dynamic Controller ◽  
Control Scheme

In the present work, we develop an adaptive dynamic controller based on monocular vision for the tracking of objects with a three-degrees of freedom (DOF) Scara robot manipulator. The main characteristic of the proposed control scheme is that it considers the robot dynamics, the depth of the moving object, and the mounting of the fixed camera to be unknown. The design of the control algorithm is based on an adaptive kinematic visual servo controller whose objective is the tracking of moving objects even with uncertainties in the parameters of the camera and its mounting. The design also includes a dynamic controller in cascade with the former one whose objective is to compensate the dynamics of the manipulator by generating the final control actions to the robot even with uncertainties in the parameters of its dynamic model. Using Lyapunov’s theory, we analyze the two proposed adaptive controllers for stability properties, and, through simulations, the performance of the complete control scheme is shown.

scholarly journals Dual Quaternion-Based Visual Servoing for Grasping Moving Objects

2021 ◽  
Author(s):  
Cristiana De Farias ◽  
Maxime Adjigble ◽  
Brahim Tamadazte ◽  
Rustam Stolkin ◽  
Naresh Marturi
Keyword(s):  
Visual Servoing ◽  
Moving Objects ◽  
Dual Quaternion

scholarly journals 6 DOF Multirate Visual Servoing for Quickly Moving Objects

2007 ◽  
Vol 25 (6) ◽  
pp. 1014-1020 ◽  
Author(s):  
Kenta Sasajima ◽  
Hiroshi Fujimoto
Keyword(s):  
Visual Servoing ◽  
Moving Objects
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