Name
Title | ||
|---|---|---|
6D image-based visual servoing for robot manipulators with uncalibrated stereo cameras |
Abstract | ||
|---|---|---|
This paper introduces 6 new image features to provide a solution to the open problem of uncalibrated 6D image-based visual servoing for robot manipulators, where the goal is to control the 3D position and orientation of the robot end-effector using visual feedback. One of the main contributions of this article is a novel stereo camera model which employs virtual orthogonal cameras to map 6D Cartesian poses defined in the Task space to 6D visual poses defined in a Virtual Visual space (Image space). This new model is used to compute a full-rank square Image Jacobian matrix (Jimg), which solves several common problems exhibited by the classical image Jacobians, e.g., Image space singularities and local minima. This Jacobian is a fundamental key for the image-based controller design, where a chattering-free adaptive second order sliding mode is employed to track 6D visual motions for a robot manipulator. Exponential convergence of errors in both spaces without local minima are demonstrated. The complete control system is experimentally evaluated on a real industrial robot. The robustness of the control scheme is evaluated for cases where the extrinsic parameters of the uncalibrated stereo camera system are changed on-line and unknown when the stereo system is manually moved to obtain a clearer view of the task. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/IROS.2014.6942640 | IROS |
Keywords | Field | DocType |
uncalibrated stereo cameras,robot manipulators,full-rank square image jacobian matrix,6d cartesian poses,image-based controller design,orientation control,visual servoing,6d visual motion tracking,chattering-free adaptive second order sliding mode,classical image jacobians,virtual orthogonal cameras,image features,end effectors,6d visual poses,visual feedback,uncalibrated 6d image-based visual servoing,3d position control,adaptive control,cameras,industrial robot,robot end-effector,position control,stereo image processing,jacobian matrices,variable structure systems,virtual visual space,image space,robot vision | Visual space,Stereo cameras,Stereo camera,Computer vision,Jacobian matrix and determinant,Computer science,Feature (computer vision),Control engineering,Industrial robot,Visual servoing,Artificial intelligence,Robot | Conference |
ISSN | Citations | PageRank |
2153-0858 | 1 | 0.36 |
References | Authors | |
9 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Caixia Cai | 1 | 28 | 5.15 |
| Emmanuel C. Dean-Leon | 2 | 62 | 15.39 |
| Nikhil Somani | 3 | 43 | 7.34 |
| Alois Knoll Knoll | 4 | 1700 | 271.32 |