Real-Time Visual Servo Control of Two-Link and Three DOF Robot Manipulator

This project presents experimental results of position-based visual servoing control process of a 3R robot using 2 fixed cameras. Visual servoing concerns several field of research including vision systems, robotics and automatic control. This method deal with real time changes in the relative position of the target-object with respect to robot. It is have good accuracy with independency of Manipulator servo control structure from the target pose coordinates are the additional advantages of this method. The applications of visually guided systems are many: from intelligent homes to automotive industry. Visual servoing are also useful for a wide range of applications and it can be used to control many different systems (manipulator arms, mobile robots, aircraft, etc.). Visual servoing systems are generally divide depends on the number of camera, on the position of the camera with respect to the robot, on the design of the error function to robot. This project presents an approach for visual robot control. Existing approaches are increased in such a way that depth and position information of block or object is estimate during the motion of the robot. That is done by the visual tracking of an object throughout the trajectory. Vision designed robotics has been a major research area for more time. However, one of the open and commonly problems in the area is the requirement for exchange of the experiences and ideas. We also include a number of real–time examples from our own research. Forward and inverse kinematics of 3 DOF robot have been done then experiments on image processing, object shape recognition and pose estimation as well as target-block or object in Cartesian system and visual control of robot manipulator have been prescribed. Experimental results obtained from real-time system implementation of visual servo control and tests of 3DOF robot in lab

Uncalibrated Dynamic Mechanical System Controller

An apparatus and method for enabling an uncalibrated, model independent controller for a mechanical system using a dynamic quasi-Newton algorithm which incorporates velocity components of any moving system parameter(s) is provided. In the preferred embodiment, tracking of a moving target by a robot having multiple degrees of freedom is achieved using an uncalibrated model independent visual servo control. Model independent visual servo control is defined as using visual feedback to control a robot's servomotors without a precisely calibrated kinematic robot model or camera model. A processor updates a Jacobian and a controller provides control signals such that the robot's end effector is directed to a desired location relative to a target on a workpiece.Georgia Tech Research Corporatio

Efficient and secure real-time mobile robots cooperation using visual servoing

This paper deals with the challenging problem of navigation in formation of mobiles robots fleet. For that purpose, a secure approach is used based on visual servoing to control velocities (linear and angular) of the multiple robots. To construct our system, we develop the interaction matrix which combines the moments in the image with robots velocities and we estimate the depth between each robot and the targeted object. This is done without any communication between the robots which eliminate the problem of the influence of each robot errors on the whole. For a successful visual servoing, we propose a powerful mechanism to execute safely the robots navigation, exploiting a robot accident reporting system using raspberry Pi3. In addition, in case of problem, a robot accident detection reporting system testbed is used to send an accident notification, in the form of a specifical message. Experimental results are presented using nonholonomic mobiles robots with on-board real time cameras, to show the effectiveness of the proposed method

Alignment control using visual servoing and mobilenet single-shot multi-box detection (SSD): a review

The concept is highly critical for robotic technologies that rely on visual feedback. In this context, robot systems tend to be unresponsive due to reliance on pre-programmed trajectory and path, meaning the occurrence of a change in the environment or the absence of an object. This review paper aims to provide comprehensive studies on the recent application of visual servoing and DNN. PBVS and Mobilenet-SSD were chosen algorithms for alignment control of the film handler mechanism of the portable x-ray system. It also discussed the theoretical framework features extraction and description, visual servoing, and Mobilenet-SSD. Likewise, the latest applications of visual servoing and DNN was summarized, including the comparison of Mobilenet-SSD with other sophisticated models. As a result of a previous study presented, visual servoing and MobileNet-SSD provide reliable tools and models for manipulating robotics systems, including where occlusion is present. Furthermore, effective alignment control relies significantly on visual servoing and deep neural reliability, shaped by different parameters such as the type of visual servoing, feature extraction and description, and DNNs used to construct a robust state estimator. Therefore, visual servoing and MobileNet-SSD are parameterized concepts that require enhanced optimization to achieve a specific purpose with distinct tools

Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile Manipulators

In this paper an image-based dynamic visual feedback control for mobile manipulators is presented to solve the target tracking problem in the 3D-workspace. The design of the whole controller is based on two cascaded subsystems: a minimum norm visual kinematic controller which complies with the 3D target tracking objective, and an adaptive controller that compensates the dynamics of the mobile manipulator. Both the kinematic controller and the adaptive controller are designed to prevent from command saturation. Robot commands are defined in terms of reference velocities. Stability and robustness are proved by using Lyapunov’s method. Finally, experimental results are presented to confirm the effectiveness of the proposed visual feedback controller.Fil: Andaluz, Víctor. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Salinas, Lucio Rafael. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Toibero, Juan Marcos. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Roberti, Flavio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentin

Visual Servoing in Robotics

Visual servoing is a well-known approach to guide robots using visual information. Image processing, robotics, and control theory are combined in order to control the motion of a robot depending on the visual information extracted from the images captured by one or several cameras. With respect to vision issues, a number of issues are currently being addressed by ongoing research, such as the use of different types of image features (or different types of cameras such as RGBD cameras), image processing at high velocity, and convergence properties. As shown in this book, the use of new control schemes allows the system to behave more robustly, efficiently, or compliantly, with fewer delays. Related issues such as optimal and robust approaches, direct control, path tracking, or sensor fusion are also addressed. Additionally, we can currently find visual servoing systems being applied in a number of different domains. This book considers various aspects of visual servoing systems, such as the design of new strategies for their application to parallel robots, mobile manipulators, teleoperation, and the application of this type of control system in new areas