A new control scheme for visual servoing

Gracia, Luis; Pérez-Vidal, Carlos

doi:10.1007/s12555-009-0509-9

Cited by 7 publications

(4 citation statements)

References 17 publications

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“…The interaction matrix, 0 ' , c E is represented by the first two rows of the Euler matrix given in (5).…”

Section: Visual-inertial Servoingmentioning

confidence: 99%

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A visual-inertial servoing method for tracking object with two landmarks and an inertial measurement unit

Phuong¹,

Kang²,

Suh³

2011

Int. J. Control Autom. Syst.

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This paper introduces a robot visual-inertial tracking algorithm for a robot manipulator intended to track an object using inertial sensors incorporated into the object. To create this algorithm, the inertial Jacobian is first newly defined in order to show the relationship between an angle set velocity vector of the object and the angular velocity vector of the robot tip. Then, the inertial Jacobian is combined with the conventional image Jacobian. Therefore, the proposed algorithm requires only two landmarks with the help of an inertial measurement unit to track a moving object with six degrees of freedom, while at least three landmarks are required in the conventional stereo visual servoing algorithm. Further, the possession of a multi-rate controller allows the integration system to out-perform conventional systems in the tracking of an object's attitude change. A suggested application of the proposed method is tracking and selection of a container from a shipping vessel that is being affected by large waves. Simulations and experiments were conducted to verify the feasibility of the proposed methodology.

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“…The interaction matrix, 0 ' , c E is represented by the first two rows of the Euler matrix given in (5).…”

Section: Visual-inertial Servoingmentioning

confidence: 99%

“…One of the most effective control methods is the task function approach proposed by Samson et al [21], which has been applied to visualbased control by Chaumette et al [3][4][5]16]. In the present paper, the robot visual-inertial servoing algorithm is based on the task function approach.…”

Section: Introductionmentioning

confidence: 99%

A visual-inertial servoing method for tracking object with two landmarks and an inertial measurement unit

Phuong¹,

Kang²,

Suh³

2011

Int. J. Control Autom. Syst.

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“…However, all of them can be classified in two main categories, depending on the workspace in which the control is set: image-based or 2D visual servoing (IBVS) [2][3][4] and position-based or 3D visual servoing (PBVS) [5][6][7]. The velocity controller proposed in [2] relates the camera velocity with the visual features by means of the image Jacobean, namely interaction matrix.…”

Section: Introductionmentioning

confidence: 99%

PWM and PFM for visual servoing in fully decoupled approaches

Muñoz-Benavent

Solanes

Gracia

et al. 2015

Robotics and Autonomous Systems

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“…Moreover, this device could be used not only at home. It could be very effective in the industry applying the same idea (switching ON/OFF loads following a specific criteria) or even controlling devices (control theory application) where a bigger bandwidth is needed [ 9 ].…”

Section: Introductionmentioning

confidence: 99%

Distributed Smart Device for Monitoring, Control and Management of Electric Loads in Domotic Environments

Morales

Badesa

García-Aracil

et al. 2012

Sensors

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This paper presents a microdevice for monitoring, control and management of electric loads at home. The key idea is to compact the electronic design as much as possible in order to install it inside a Schuko socket. Moreover, the electronic Schuko socket (electronic microdevice + Schuko socket) has the feature of communicating with a central unit and with other microdevices over the existing powerlines. Using the existing power lines, the proposed device can be installed in new buildings or in old ones. The main use of this device is to monitor, control and manage electric loads to save energy and prevent accidents produced by different kind of devices (e.g., iron) used in domestic tasks. The developed smart device is based on a single phase multifunction energy meter manufactured by Analog Devices (ADE7753) to measure the consumption of electrical energy and then to transmit it using a serial interface. To provide current measurement information to the ADE7753, an ultra flat SMD open loop integrated circuit current transducer based on the Hall effect principle manufactured by Lem (FHS-40P/SP600) has been used. Moreover, each smart device has a PL-3120 smart transceiver manufactured by LonWorks to execute the user's program, to communicate with the ADE7753 via serial interface and to transmit information to the central unit via powerline communication. Experimental results show the exactitude of the measurements made using the developed smart device.

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A new control scheme for visual servoing

Cited by 7 publications

References 17 publications

A visual-inertial servoing method for tracking object with two landmarks and an inertial measurement unit

A visual-inertial servoing method for tracking object with two landmarks and an inertial measurement unit

PWM and PFM for visual servoing in fully decoupled approaches

Distributed Smart Device for Monitoring, Control and Management of Electric Loads in Domotic Environments

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