Robot Visual Servoing Using Discontinuous Control

This work presents different proposals to deal with common problems in robot visual servoing based on the application of discontinuous control methods. The feasibility and effectiveness of the proposed approaches are substantiated by simulation results and real experiments using a 6R industrial manipulator. The main contributions are: - Geometric invariance using sliding mode control (Chapter 3): the defined higher-order invariance is used by the proposed approaches to tackle problems in visual servoing. Proofs of invariance condition are presented. - Fulfillment of constraints in visual servoing (Chapter 4): the proposal uses sliding mode methods to satisfy mechanical and visual constraints in visual servoing, while a secondary task is considered to properly track the target object. The main advantages of the proposed approach are: low computational cost, robustness and fully utilization of the allowed space for the constraints. - Robust auto tool change for industrial robots using visual servoing (Chapter 4): visual servoing and the proposed method for constraints fulfillment are applied to an automated solution for tool changing in industrial robots. The robustness of the proposed method is due to the control law of the visual servoing, which uses the information acquired by the vision system to close a feedback control loop. Furthermore, sliding mode control is simultaneously used in a prioritized level to satisfy the aforementioned constraints. Thus, the global control accurately places the tool in the warehouse, but satisfying the robot constraints. - Sliding mode controller for reference tracking (Chapter 5): an approach based on sliding mode control is proposed for reference tracking in robot visual servoing using industrial robot manipulators. The novelty of the proposal is the introduction of a sliding mode controller that uses a high-order discontinuous control signal, i.e., joint accelerations or joint jerks, in order to obtain a smoother behavior and ensure the robot system stability, which is demonstrated with a theoretical proof. - PWM and PFM for visual servoing in fully decoupled approaches (Chapter 6): discontinuous control based on pulse width and pulse frequency modulation is proposed for fully decoupled position based visual servoing approaches, in order to get the same convergence time for camera translation and rotation. Moreover, other results obtained in visual servoing applications are also described.Este trabajo presenta diferentes propuestas para tratar problemas habituales en el control de robots por realimentación visual, basadas en la aplicación de métodos de control discontinuos. La viabilidad y eficacia de las propuestas se fundamenta con resultados en simulación y con experimentos reales utilizando un robot manipulador industrial 6R. Las principales contribuciones son: - Invariancia geométrica utilizando control en modo deslizante (Capítulo 3): la invariancia de alto orden definida aquí es utilizada después por los métodos propuestos, para tratar problemas en control por realimentación visual. Se apuertan pruebas teóricas de la condición de invariancia. - Cumplimiento de restricciones en control por realimentación visual (Capítulo 4): esta propuesta utiliza métodos de control en modo deslizante para satisfacer restricciones mecánicas y visuales en control por realimentación visual, mientras una tarea secundaria se encarga del seguimiento del objeto. Las principales ventajas de la propuesta son: bajo coste computacional, robustez y plena utilización del espacio disponible para las restricciones. - Cambio de herramienta robusto para un robot industrial mediante control por realimentación visual (Capítulo 4): el control por realimentación visual y el método propuesto para el cumplimiento de las restricciones se aplican a una solución automatizada para el cambio de herramienta en robots industriales. La robustez de la propuesta radica en el uso del control por realimentación visual, que utiliza información del sistema de visión para cerrar el lazo de control. Además, el control en modo deslizante se utiliza simultáneamente en un nivel de prioridad superior para satisfacer las restricciones. Así pues, el control es capaz de dejar la herramienta en el intercambiador de herramientas de forma precisa, a la par que satisface las restricciones del robot. - Controlador en modo deslizante para seguimiento de referencia (Capítulo 5): se propone un enfoque basado en el control en modo deslizante para seguimiento de referencia en robots manipuladores industriales controlados por realimentación visual. La novedad de la propuesta radica en la introducción de un controlador en modo deslizante que utiliza la señal de control discontinua de alto orden, i.e. aceleraciones o jerks de las articulaciones, para obtener un comportamiento más suave y asegurar la estabilidad del sistema robótico, lo que se demuestra con una prueba teórica. - Control por realimentación visual mediante PWM y PFM en métodos completamente desacoplados (Capítulo 6): se propone un control discontinuo basado en modulación del ancho y frecuencia del pulso para métodos completamente desacoplados de control por realimentación visual basados en posición, con el objetivo de conseguir el mismo tiempo de convergencia para los movimientos de rotación y traslación de la cámara . Además, se presentan también otros resultados obtenidos en aplicaciones de control por realimentación visual.Aquest treball presenta diferents propostes per a tractar problemes habituals en el control de robots per realimentació visual, basades en l'aplicació de mètodes de control discontinus. La viabilitat i eficàcia de les propostes es fonamenta amb resultats en simulació i amb experiments reals utilitzant un robot manipulador industrial 6R. Les principals contribucions són: - Invariància geomètrica utilitzant control en mode lliscant (Capítol 3): la invariància d'alt ordre definida ací és utilitzada després pels mètodes proposats, per a tractar problemes en control per realimentació visual. S'aporten proves teòriques de la condició d'invariància. - Compliment de restriccions en control per realimentació visual (Capítol 4): aquesta proposta utilitza mètodes de control en mode lliscant per a satisfer restriccions mecàniques i visuals en control per realimentació visual, mentre una tasca secundària s'encarrega del seguiment de l'objecte. Els principals avantatges de la proposta són: baix cost computacional, robustesa i plena utilització de l'espai disponible per a les restriccions. - Canvi de ferramenta robust per a un robot industrial mitjançant control per realimentació visual (Capítol 4): el control per realimentació visual i el mètode proposat per al compliment de les restriccions s'apliquen a una solució automatitzada per al canvi de ferramenta en robots industrials. La robustesa de la proposta radica en l'ús del control per realimentació visual, que utilitza informació del sistema de visió per a tancar el llaç de control. A més, el control en mode lliscant s'utilitza simultàniament en un nivell de prioritat superior per a satisfer les restriccions. Així doncs, el control és capaç de deixar la ferramenta en l'intercanviador de ferramentes de forma precisa, a la vegada que satisfà les restriccions del robot. - Controlador en mode lliscant per a seguiment de referència (Capítol 5): es proposa un enfocament basat en el control en mode lliscant per a seguiment de referència en robots manipuladors industrials controlats per realimentació visual. La novetat de la proposta radica en la introducció d'un controlador en mode lliscant que utilitza senyal de control discontínua d'alt ordre, i.e. acceleracions o jerks de les articulacions, per a obtindre un comportament més suau i assegurar l'estabilitat del sistema robòtic, la qual cosa es demostra amb una prova teòrica. - Control per realimentació visual mitjançant PWM i PFM en mètodes completament desacoblats (Capítol 6): es proposa un control discontinu basat en modulació de l'ample i la freqüència del pols per a mètodes completament desacoblats de control per realimentació visual basats en posició, amb l'objectiu d'aconseguir el mateix temps de convergència per als moviments de rotació i translació de la càmera. A més, es presenten també altres resultats obtinguts en aplicacions de control per realimentació visual.Muñoz Benavent, P. (2017). Robot Visual Servoing Using Discontinuous Control [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/90430TESI

Robust fulfillment of constraints in robot visual servoing

[EN] In this work, an approach based on sliding mode ideas is proposed to satisfy constraints in robot visual servoing. In particular, different types of constraints are defined in order to: fulfill the visibility constraints (camera fieldof-view and occlusions) for the image features of the detected object; to avoid exceeding the joint range limits and maximum joint speeds; and to avoid forbidden areas in the robot workspace. Moreover, another task with low-priority is considered to track the target object. The main advantages of the proposed approach are low computational cost, robustness and fully utilization of the allowed space for the constraints. The applicability and effectiveness of the proposed approach is demonstrated by simulation results for a simple 2D case and a complex 3D case study. Furthermore, the feasibility and robustness of the proposed approach is substantiated by experimental results using a conventional 6R industrial manipulator.This work was supported in part by the Spanish Government under grants BES-2010-038486 and Project DPI2013-42302-R, and the Generalitat Valenciana under grants VALi+d APOSTD/2016/044 and BEST/2017/029.Muñoz-Benavent, P.; Gracia Calandin, LI.; Solanes Galbis, JE.; Esparza Peidro, A.; Tornero Montserrat, J. (2018). Robust fulfillment of constraints in robot visual servoing. Control Engineering Practice. 71(1):79-95. https://doi.org/10.1016/j.conengprac.2017.10.017S799571

Robust auto tool change for industrial robots using visual servoing

This is an Author's Accepted Manuscript of an article published in Muñoz-Benavent, Pau, Solanes Galbis, Juan Ernesto, Gracia Calandin, Luis Ignacio, Tornero Montserrat, Josep. (2019). Robust auto tool change for industrial robots using visual servoing.International Journal of Systems Science, 50, 2, 432-449. © Taylor & Francis, available online at: http://doi.org/10.1080/00207721.2018.1562129[EN] This work presents an automated solution for tool changing in industrial robots using visual servoing and sliding mode control. The robustness of the proposed method is due to the control law of the visual servoing, which uses the information acquired by a vision system to close a feedback control loop. Furthermore, sliding mode control is simultaneously used in a prioritised level to satisfy the constraints typically present in a robot system: joint range limits, maximum joint speeds and allowed workspace. Thus, the global control accurately places the tool in the warehouse, but satisfying the robot constraints. The feasibility and effectiveness of the proposed approach is substantiated by simulation results for a complex 3D case study. Moreover, real experimentation with a 6R industrial manipulator is also presented to demonstrate the applicability of the method for tool changing.This work was supported in part by the Ministerio de Economia, Industria y Competitividad, Gobierno de Espana under Grant BES-2010-038486 and Project DPI2017-87656-C2-1-R.Muñoz-Benavent, P.; Solanes Galbis, JE.; Gracia Calandin, LI.; Tornero Montserrat, J. (2019). Robust auto tool change for industrial robots using visual servoing. International Journal of Systems Science. 50(2):432-449. https://doi.org/10.1080/00207721.2018.1562129S43244950

PWM and PFM for visual servoing in fully decoupled approaches

In this paper, novel visual servoing techniques based on Pulse Width Modulation (PWM) and Pulse Frequency Modulation (PFM) are presented. In order to apply previous pulse modulations, a fully decoupled position based visual servoing approach (i.e. with block-diagonal interaction matrix) is considered, controlling independently translational and rotational camera motions. These techniques, working at high frequency, could be considered to address the sensor latency problem inherent in visual servoing systems. The expected appearance of ripple due to the concentration of the control action in pulses is quantified and analyzed under simulated scenario. This high frequency ripple does not affect the system performance since it is filtered by the manipulator dynamics. On the contrary it can be seen as a dither signal to minimize the impact of friction and overcome back-lashing.This work was supported in part by the Spanish Government under Grant BES-2010-038486 and Project DPI2013-42302-R.Muñoz Benavent, P.; Solanes Galbis, JE.; Gracia Calandin, LI.; Tornero Montserrat, J. (2015). PWM and PFM for visual servoing in fully decoupled approaches. Robotics and Autonomous Systems. 65(1):57-64. doi:10.1016/j.robot.2014.11.011S576465

Sampling-Based MPC for Constrained Vision Based Control

International audienceVisual servoing control schemes, such as Image-Based (IBVS), Pose Based (PBVS) or Hybrid-Based (HBVS) have been extensively developed over the last decades making possible their uses in a large number of applications. It is well-known that the main problems to be handled concern the presence of local minima or singularities, the visibility constraint, the joint limits, etc. Recently, Model Predictive Path Integral (MPPI) control algorithm has been developed for autonomous robot navigation tasks. In this paper, we propose a MPPI-VS framework applied for the control of a 6-DoF robot with 2D point, 3D point, and Pose Based Visual Servoing techniques. We performed intensive simulations under various operating conditions to show the potential advantages of the proposed control framework compared to the classical schemes. The effectiveness, the robustness and the capability in coping easily with the system constraints of the control framework are shown

CNS: Correspondence Encoded Neural Image Servo Policy

Image servo is an indispensable technique in robotic applications that helps to achieve high precision positioning. The intermediate representation of image servo policy is important to sensor input abstraction and policy output guidance. Classical approaches achieve high precision but require clean keypoint correspondence, and suffer from limited convergence basin or weak feature error robustness. Recent learning-based methods achieve moderate precision and large convergence basin on specific scenes but face issues when generalizing to novel environments. In this paper, we encode keypoints and correspondence into a graph and use graph neural network as architecture of controller. This design utilizes both advantages: generalizable intermediate representation from keypoint correspondence and strong modeling ability from neural network. Other techniques including realistic data generation, feature clustering and distance decoupling are proposed to further improve efficiency, precision and generalization. Experiments in simulation and real-world verify the effectiveness of our method in speed (maximum 40fps along with observer), precision (<0.3{\deg} and sub-millimeter accuracy) and generalization (sim-to-real without fine-tuning). Project homepage (full paper with supplementary text, video and code): https://hhcaz.github.io/CNS-hom

Motion Planning from Demonstrations and Polynomial Optimization for Visual Servoing Applications

Vision feedback control techniques are desirable for a wide range of robotics applications due to their robustness to image noise and modeling errors. However in the case of a robot-mounted camera, they encounter difficulties when the camera traverses large displacements. This scenario necessitates continuous visual target feedback during the robot motion, while simultaneously considering the robot's self- and external-constraints. Herein, we propose to combine workspace (Cartesian space) path-planning with robot teach-by-demonstration to address the visibility constraint, joint limits and “whole arm” collision avoidance for vision-based control of a robot manipulator. User demonstration data generates safe regions for robot motion with respect to joint limits and potential “whole arm” collisions. Our algorithm uses these safe regions to generate new feasible trajectories under a visibility constraint that achieves the desired view of the target (e.g., a pre-grasping location) in new, undemonstrated locations. Experiments with a 7-DOF articulated arm validate the proposed method.published_or_final_versio

Visual Servoing

International audienceThis chapter introduces visual servo control, using computer vision data in the servo loop to control the motion of a robot. We first describe the basic techniques that are by now well established in the field. We give a general overview of the formulation of the visual servo control problem, and describe the two archetypal visual servo control schemes: image-based and pose-based visual servo control. We then discuss performance and stability issues that pertain to these two schemes, motivating advanced techniques. Of the many advanced techniques that have been developed , we discuss 2.5-D, hybrid, partitioned, and switched approaches. Having covered a variety of control schemes, we deal with target tracking and controlling motion directly in the joint space and extensions to under-actuated ground and aerial robots. We conclude by describing applications of visual ser-voing in robotics

Nonlinear Estimation And Control For Assistive Robots

In this thesis, we document the progress in the estimation and control design of a smart assistive robot arm that can provide assistance during activities of daily living to the elderly and/or users with disabilities. Interaction with the environment is made challenging by the kinematic uncertainty in the robot, imperfect sensor calibration, limited view of angle as well as the fact that most activities of daily living are generally required to be performed in unstructured environments. For monocular visual systems, range (or depth) information is always crucial for target modeling and system control design. In the first part of my thesis, a novel and effective method is developed to estimate the range information in perspective vision systems by observing the 2-D image information and known motion parameters. We have considered the presence of noise in the image space measurements and kinematic uncertainty in the motion parameters. Simulation and experiment results show the advantage of our algorithm in comparison with other approaches. In the second part of the thesis, Lyapunov-based design techniques are utilized to propose a 2.5D visual servoing controller which stabilizes the robot end-effector pose while satisfying practical constraints on the sensing and the actuation. First, a nominal feedback controller is introduced which is then modified through an optimization-based approach in order to iii satisfy the constraints related to limited camera field-of-view and size of actuation. In the absence of actuator constraints, the proposed control law yields semi-global asymptotic (exponential) stability. When actuator constraints are introduced, the result is local asymptotic stability with known bounds on the region of attraction. Simulation and experimental results demonstrate the effectiveness of the proposed control methodolog

Sliding mode control for robust and smooth reference tracking in robot visual servoing

[EN] An approach based on sliding mode is proposed in this work for reference tracking in robot visual servoing. In particular, 2 sliding mode controls are obtained depending on whether joint accelerations or joint jerks are considered as the discontinuous control action. Both sliding mode controls are extensively compared in a 3D-simulated environment with their equivalent well-known continuous controls, which can be found in the literature, to highlight their similarities and differences. The main advantages of the proposed method are smoothness, robustness, and low computational cost. 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