the Performance of Object Tracking with Projection-Based Visual Servoing Method

2018 ◽  
Vol 2018 (0) ◽  
pp. 2A1-M16
Author(s):  
Junxiang WANG ◽  
Hongzhi TIAN ◽  
Yejun KOU ◽  
Ryuki FUNAKUBO ◽  
Xiang LI ◽  
...  
Keyword(s):  
Object Tracking ◽  
Visual Servoing

Object tracking with a robotic manipulator mounted on ground vehicle using Image Based Visual Servoing

2017 ◽  
Author(s):  
Muhammad Ahsan Sami ◽  
Muhammad Umar Masood ◽  
Muhammad Waqar ◽  
Muhammad Mujtaba ◽  
Abrahim Ali Shah ◽  
...  
Keyword(s):  
Object Tracking ◽  
Visual Servoing ◽  
Robotic Manipulator ◽  
Ground Vehicle

scholarly journals Using FPGA Design and HIL Algorithm Simulation to Control Visual Servoing

2018 ◽  
Vol 6 (2) ◽  
pp. 111
Author(s):  
Lway Faisal Abdulrazak ◽  
Zaid A. Aljawary
Keyword(s):  
Object Tracking ◽  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Optimal Solution ◽  
Robot Dynamics ◽  
Fpga Design ◽  
Joint Torques ◽  
Array Technology ◽  
Gate Array ◽  
Set Up

<span style="font-size: 9pt; font-family: 'Times New Roman', serif;">This is a novel research paper provides an optimal solution for object tracking using visual servoing control system with programmable gate array technology to realize the visual controller. The controller takes in account the robot dynamics to generate the joint torques directly for performing the tasks related to object tracking using visual servoing. Also, the notion of dynamic perceptibility provides the capability of the designed system to track desired objects employing direct visual servoing technique. This idea is assimilated in the suggested controller and realized in the programmable gate array. Additionally, this paper grants an ideal control framework for direct visual servoing robots that incorporates dynamic perceptibility features. With the aim of evaluating the proposed FPGA based architecture, the control algorithm is applied to Hardware-in-the-loop simulation (HIL) set up of three degrees of freedom rigid robotic manipulator with three links. Furthermore, different investigations are performed to demonstrate the behavior of the proposed system when a trajectory adjacent to a singularity is attained.</span>

scholarly journals Detección y Seguimiento Visual mediante LabVIEW para el Posicionamiento de un Brazo Robot de tipo Manipulador

2017 ◽  
Vol 2 (4) ◽  
Author(s):  
E. Flores García ◽  
J.C. Quezada Quezada ◽  
A. E. Solís Galindo ◽  
E. Peña Santander
Keyword(s):  
Object Tracking ◽  
Visual Servoing

En este trabajo se presenta una propuesta para identificación de objetos por medio de un sistema de visión acoplado a un brazo manipulador, pensado para la ejecución de tareas de montaje o ensamblado, aplicaciones típicas en procesos de tipo industrial. Se utiliza una configuración de retroalimentación visual mediante el uso de un control de tipo PID que permite ajustar la posición del manipulador con respecto a un punto de referencia de su localización en un campo de visión, sin la necesidad de considerar el tipo de cámara a utilizar. La propuesta está basada en aspectos básicos de la robótica que, junto con algunos principios básicos de la visión artificial, busca proveer cierta "inteligencia" al brazo manipulador. La implementación experimental de la propuesta ha sido desarrollada en el entorno de programación LabVIEW; librerías como Vision and Motion para el procesamiento de imágenes, y Control Desing and Simulation para la etapa de control, integran toda la programación necesaria para el desarrollo del proyecto, y llevarlo a un plano de trabajo real mediante la plataforma Arduino. Asimismo, se realiza el estudio de los problemas de object tracking y visual servoing, para dar cumplimiento a los objetivos de la investigación.

A Robot Vision System in ABU Robocon Contest: Visual Servoing Navigation and Object Tracking

2012 ◽  
Vol 605-607 ◽  
pp. 1630-1635 ◽  
Author(s):  
Xi Hua Li ◽  
Ping Zhang ◽  
Si Na Lin
Keyword(s):  
Object Tracking ◽  
Visual Servoing ◽  
Vision System ◽  
Robot Vision ◽  
Control Law ◽  
Complex Environment ◽  
Angle Error ◽  
Black And White ◽  
Combined Algorithm ◽  
Better Than

This article took the 2011 ABU Robocon Contest as background, and introduced the design and implementation of a vision system for visual servoing navigation and object tracking in this contest. For visual servoing navigation part, it had a series of simple image processing and then added to a previous control law; tests showed only 3cm distance and 1°angle error occur when robot ran one line of 6m. For object tracking part, article introduced a combined algorithm for the detecting of a black and white semi-circle object, which moved quickly and uncertainty in a colorful background and shining environment; tests showed the proposed algorithm work better than other exist algorithms in complex environment.

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