Real-time vision feedback for servoing robotic manipulator with self-tuning controller

Koivo, A.J.; Houshangi, N.

doi:10.1109/21.101144

Cited by 192 publications

(61 citation statements)

References 12 publications

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“…Notice that visual servo structures require the direct access to the robot operating system in order to govern the joint variables directly, whereas dynamic look and move structures consider the robot as an independent system and can handle it as a black box. There has been a significant amount of research activity on image based control methods (Weiss et al, 1987), (Feddema & Mitchell, 1989), (Chaumette et al, 1991), (Espiau et al, 1992), (Khosla et al, 1993), (Corke, 1993) whereas there have been only a few researchers working on position based control methods (Koivo & Houshangi, 1991), (Allen et al, 1993), (Wilson et al, 1996), (Vargas et al, 1999). This tendency can be justified because image based systems usually reduce computation delays and eliminate errors due to sensor modeling and camera calibration processes.…”

Section: Overview Of Visual Control Architecturesmentioning

confidence: 99%

Designing and Building Controllers for 3D Visual Servoing Applications under a Modular Scheme

Bachiller¹,

Cerrada²,

Cerrada³

2006

Industrial Robotics: Programming, Simulation and Applications

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Section: Overview Of Visual Control Architecturesmentioning

confidence: 99%

Designing and Building Controllers for 3D Visual Servoing Applications under a Modular Scheme

Bachiller¹,

Cerrada²,

Cerrada³

2006

Industrial Robotics: Programming, Simulation and Applications

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“…Other examples where a fixed-eye configuration is used are given in Refs. 8,24 . For visual servoing examples in which an eye-in-hand setup is used, see Refs.…”

Section: Perceptual Control Manifoldmentioning

confidence: 99%

Vision-Based Robot Motion Planning Using a Topology Representing Neural Network

Zeller

Schulten

Sharma

1997

World Scientific Series in Robotics and Intelligent Systems

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The goal of integrating sensors into robot motion planning has incited recent research efforts. The Perceptual Control Manifold serves this goal extending the notion of the robot configuration space to include sensor space. In this paper, we develop a framework for sensor-based motion planning of robotic manipulators using the Topology Representing Network algorithm to develop a learned representation of the Perceptual Control Manifold. The topology preserving features of the neural network lend themselves to yield, after learning, a diffusion-based path planning strategy for flexible obstacle avoidance. We demonstrate the capabilities of topology preserving maps using an industrial robot simulator and a pneumatically driven robot arm (SoftArm).

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“…Grosso in the image space [7]- [lo] and the calibration requirements are somehow less demanding allowing the synthesis of more robust control laws.…”

mentioning

confidence: 99%

Robust visual servoing in 3-D reaching tasks

Grosso

Metta

Oddera

et al. 1996

IEEE Trans. Robot. Automat.

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Abstract-This paper describes a novel approach to the problem of reaching an object in space under visual guidance. The approach is characterized by a great robustness to calibration errors, such that virtually no calibration is required. Servoing is based on binocular vision: a continuous measure of the endeffector motion field, derived from real-time computation of the binocular optical flow over the stereo images, is compared with the actual position of the target and the relative error in the end-effector trajectory is continuously corrected. The paper outlines the general framework of the approach, shows how visual measures are obtained and discusses the synthesis of the controller along with its stability analysis. Real-time experiments are presented to show the applicability of the approach in real 3-D applications.

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Real-time vision feedback for servoing robotic manipulator with self-tuning controller

Cited by 192 publications

References 12 publications

Designing and Building Controllers for 3D Visual Servoing Applications under a Modular Scheme

Designing and Building Controllers for 3D Visual Servoing Applications under a Modular Scheme

Vision-Based Robot Motion Planning Using a Topology Representing Neural Network

Robust visual servoing in 3-D reaching tasks

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