scholarly journals Binocular visual tracking and grasping of a moving object with a 3D trajectory

2009 ◽  
Vol 7 (03) ◽  
Author(s):  
J. Fuentes-Pacheco ◽  
J. Ruiz-Ascencio ◽  
J. M. Rendón-Mancha
Keyword(s):  
Control System ◽  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Vision System ◽  
Moving Object ◽  
Three Dimensions ◽  
Stereo Pair ◽  
Six Degrees Of Freedom ◽  
Linear Predictors ◽  
Server Architecture

This paper presents a binocular eye-to-hand visual servoing system that is able to track and grasp a moving object in real time. Linear predictors are employed to estimate the object trajectory in three dimensions and are capable of predicting future positions even if the object is temporarily occluded. For its development we have used a CRS T475 manipulator robot with six degrees of freedom and two fixed cameras in a stereo pair configuration. The system has a client‐server architecture and is composed of two main parts: the vision system and the control system. The vision system uses color detection to extract the object from the background and a tracking technique based on search windows and object moments. The control system uses the RobWork library to generate the movement instructions and to send them to a C550 controller by means of the serial port. Experimental results are presented to verify the validity and the efficacy of the proposed visual servoing system.

LAYERED CONTROL OF A BINOCULAR CAMERA HEAD

1993 ◽  
Vol 07 (01) ◽  
pp. 109-122 ◽  
Author(s):  
JAMES L. CROWLEY ◽  
PHILIPPE BOBET ◽  
MOUAFAK MESRABI
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Final Section ◽  
Vision System ◽  
Active Vision ◽  
Six Degrees Of Freedom ◽  
Binocular Stereo

This paper describes a layered control system for a binocular stereo head. It begins by a discussion of the principles of layered control. It then describes the mechanical configuration for a binocular camera head with six degrees of freedom. A device level controller is presented which permits an active vision system to command the position of a binocular gaze point in the scene. The final section describes the design of perceptual actions which exploit this device level controller.

scholarly journals Full Control of Virtual Objects Manipulation Based on the Images of Real Ones

2011 ◽  
Vol 10 (3) ◽  
pp. 51-60
Author(s):  
Brahim Nini
Keyword(s):  
Finite Number ◽  
Degrees Of Freedom ◽  
Moving Object ◽  
Real Object ◽  
Virtual Object ◽  
Analytical Geometry ◽  
Six Degrees Of Freedom ◽  
Virtual Objects ◽  
Simulation Process ◽  
Full Control

This work deals with the virtual manipulation of a real object through its images. The results presented in this paper give a movie-based solution to the simulation process. We show how the simulation of infinite virtual views of a moving object can be reached using a finite number of object's taken images stored in an organized way. The basis of this solution is an analytical geometry-based method that links explicit applied user's actions, resulting in an object's views change, and images that match the best such views. This paper presents an overall solution for these three intertwined parts of the virtual manipulation that involves six degrees of freedom. Hence, a user is able to freely manipulate a virtual object in a scene in whatever manner s/he likes. In this case, the actions are transformed into rotations and/or translations which lead to some changes in object's appearance, both covered by two viewing features: zoom and/or rotations

Optimal Error-Clamping Design for Position-Based Visual Servoing of a 2-DOF Model Helicopter

2011 ◽  
Author(s):  
M. Alizadeh ◽  
C. Ratanasawanya ◽  
M. Mehrandezh ◽  
R. Paranjape
Keyword(s):  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Vision System ◽  
Physical Space ◽  
Linear Quadratic Regulator ◽  
Image Plane ◽  
Reference Trajectory ◽  
Linear Quadratic ◽  
Feed Forward ◽  
Model Helicopter

A vision-based servoing technique is proposed for a 2 degrees-of-freedom (dof) model helicopter equipped with a monocular vision system. In general, these techniques can be categorized as image- and position-based, where the task error is defined in the image plane in the former and in the physical space in the latter. The 2-dof model helicopter requires a configuration-dependent feed-forward control to compensate for gravitational forces when servoing on a ground target. Therefore, a position-based visual servoing deems more appropriate for precision control. Image information collected from a ground object, with known geometry a priori, is used to calculate the desired pose of the camera and correspondingly the desired joint angles of the model helicopter. To assure a smooth servoing, the task error is parameterized, using the information obtained from the linearaized image Jacobian, and time scaled to form a moving reference trajectory. At the higher level, a Linear Quadratic Regulator (LQR), augmented with a feed-forward term and an integrator, is used to track this trajectory. The discretization of the reference trajectory is achieved by an error-clamping strategy for optimal performance. The proposed technique was tested on a 2-dof model helicopter capable of pitch and yaw maneuvers carrying a light-weight off-the-shelf video camera. The test results show that the optimized controller can servo the model helicopter to a hovering pose for an image acquisition rate of as low as 2 frames per second.

New Redundant Manipulator Robot with Six Degrees of Freedom Controlled with Visual Feedback

2017 ◽  
pp. 231-255
Author(s):  
Claudio Urrea ◽  
Héctor Araya
Keyword(s):  
Visual Feedback ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Vision System ◽  
Artificial Vision ◽  
Correct Operation ◽  
Six Degrees Of Freedom ◽  
Design And Implementation ◽  
Implementation Stages ◽  
Manipulator Robot

The design and implementation stages of a redundant robotized manipulator with six Degrees Of Freedom (DOF), controlled with visual feedback by means of computational software, is presented. The various disciplines involved in the design and implementation of the manipulator robot are highlighted in their electric as well as mechanical aspects. Then, the kinematics equations that govern the position and orientation of each link of the manipulator robot are determined. The programming of an artificial vision system and of an interface that control the manipulator robot is designed and implemented. Likewise, the type of position control applied to each joint is explained, making a distinction according to the assigned task. Finally, functional mechanical and electric tests to validate the correct operation of each of the systems of the manipulator robot and the whole robotized system are carried out.

Development of active six-degrees-of-freedom microvibration control system using giant magnetostrictive actuators

2000 ◽  
Vol 9 (2) ◽  
pp. 175-185 ◽  
Author(s):  
Yoshiya Nakamura ◽  
Masanao Nakayama ◽  
Keiji Masuda ◽  
Kiyoshi Tanaka ◽  
Masashi Yasuda ◽  
...  
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Six Degrees Of Freedom ◽  
Magnetostrictive Actuators

Nonlinear system controllability analysis and autopilot design for bank-to-turn aircraft with two flaps

2018 ◽  
Vol 233 (5) ◽  
pp. 1772-1783 ◽  
Author(s):  
Jinlu Dong ◽  
Di Zhou ◽  
Chuntao Shao ◽  
Shikai Wu
Keyword(s):  
Numerical Simulation ◽  
Control System ◽  
Nonlinear System ◽  
Feedback Linearization ◽  
Degrees Of Freedom ◽  
Lyapunov Stability Theory ◽  
Zero Dynamics ◽  
Controlled System ◽  
Linearization Technique ◽  
Six Degrees Of Freedom

In this study, the six-degrees-of-freedom flight motion of a tail-controlled bank-to-turn aircraft with two flaps is described as a nonlinear control system. The controllability of this flap-controlled system is analyzed based on nonlinear controllability theory and the system is proved to be weakly controllable. By choosing the angle-of-attack and roll angle as the outputs of this control system, the zero dynamics of the system are analyzed using Lyapunov stability theory, and are proved to be stable under some conditions given by an inequality. Then an autopilot is designed for this system using the feedback linearization technique. Results of the numerical simulation for this control system show the effectiveness of the controllability analysis and autopilot design.

New Redundant Manipulator Robot with Six Degrees of Freedom Controlled with Visual Feedback

2020 ◽  
pp. 142-166
Author(s):  
Claudio Urrea ◽  
Héctor Araya
Keyword(s):  
Visual Feedback ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Vision System ◽  
Artificial Vision ◽  
Correct Operation ◽  
Six Degrees Of Freedom ◽  
Design And Implementation ◽  
Implementation Stages ◽  
Manipulator Robot

The design and implementation stages of a redundant robotized manipulator with six Degrees Of Freedom (DOF), controlled with visual feedback by means of computational software, is presented. The various disciplines involved in the design and implementation of the manipulator robot are highlighted in their electric as well as mechanical aspects. Then, the kinematics equations that govern the position and orientation of each link of the manipulator robot are determined. The programming of an artificial vision system and of an interface that control the manipulator robot is designed and implemented. Likewise, the type of position control applied to each joint is explained, making a distinction according to the assigned task. Finally, functional mechanical and electric tests to validate the correct operation of each of the systems of the manipulator robot and the whole robotized system are carried out.

Mechatronics Systems Supported by Vision Techniques

2013 ◽  
Vol 196 ◽  
pp. 62-73 ◽  
Author(s):  
Piotr Kohut
Keyword(s):  
Control System ◽  
Vibration Control ◽  
Modal Analysis ◽  
Visual Servoing ◽  
Vision System ◽  
Active Vibration Control ◽  
Position Estimation ◽  
Industrial Robots ◽  
Underwater Robots ◽  
Active Vibration

In the paper an application of vision methods and algorithms in various domains that contribute to mechatronics is presented. Regarding mechatronics devices and machines as robots, a vision system employed for a testing station simulating an industrial assembly line is discussed. Some numerical aspects concerning image pre-processing, analysis and geometrical transformations commonly used in robotics were introduced. To accomplish an effective investigation, the developed methodology and algorithms were implemented and verified on an experimental setup composed of two industrial robots and automation devices cooperating with two various vision systems. In the case of underwater robots for tank inspection, image pre-processing and analysis algorithms for the robot's position estimation, an image scale calculation and wall crack detection were investigated. An active vibration control system is treated as a mechatronic device which contains mechanical parts, electronics and software. In this example, a visual servoing architecture based on image features for controlling an active vibration control system was examined. For an effective investigation and synthesis of visual servoing algorithms, a MATLAB/Simulink/dSPACE hardware–software environment was employed. A vision system was used to analyze vibration amplitude of the vibro-isolation mass of the active suspension system and to provide a feedback control signal. The connection of 3D vision techniques with modal analysis was shown. Within the confines of the project a methodology for amplitude of vibration measurement and a software tool for modal analysis realization based on visual data were developed. The 3D measurements and structure of the construction were obtained by application and development of passive 3-D vision techniques. From this area, ‘structure from motion’ techniques were developed. In the experimental research, a mechatronic test stand was designed and manufactured enabling automatic two-axis control of a camera. A frame structure was built, in which a guiding-rail system was mounted enabling straight-line motion of a camera. Additionally, a system realizing rotational motion of a camera was built in. To control the experiment stand, software was created enabling the combination of the hardware-software part of the stand with the software part of a vision system. A tool was developed for the purpose of modal analysis and estimation of the quantities characterizing dynamic properties of the structure based on vision signals. As a conclusion, the presented, implemented and tested vision methods in various hardware-software programming platforms are discussed

An Autonomous Underwater Vehicle for Competition

2013 ◽  
Vol 380-384 ◽  
pp. 595-600
Author(s):  
Hai Tian ◽  
Bo Hu ◽  
Can Yu Liu ◽  
Guo Chao Xie ◽  
Hui Min Luo
Keyword(s):  
Control System ◽  
Hydrodynamic Model ◽  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Vertical Motion ◽  
Underwater Vehicle ◽  
Step Response ◽  
Six Degrees Of Freedom ◽  
Simulink Simulation

The research of this paper was derived from the small autonomous underwater vehicle (AUV)Raider well performed in the 15th International Underwater Vehicle Competition (IAUVC),San Diego. In order to improve the performance of underwater vehicle, the control system of performance motion played an important role on autonomous underwater vehicles stable motion, and the whole control system of AUV is the main point. Firstly, based on the motion equations of six degrees of freedom, the paper simplified the dynamical model reasonably in allusion; Due to the speed of Raider to find the target was very low, this paper considered the speed was approximately zero and only considered the vertical motion. Therefore, this paper established the vertical hydrodynamic model of Raider, obtaining the transfer equation of vertical motion. Through the experiment and Matlab/Simulink simulation, this paper got the actual depth of the step response curve and simulation curve, and verified the validity of the vertical hydrodynamic model and the correlation coefficient.

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