Constraint Aware Visual Servoing For Teaching Practical Robot Motion
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Constraint Aware Visual Servoing For Teaching Practical Robot Motion
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Author :
language : en
Publisher:
Release Date : 2004
Constraint Aware Visual Servoing For Teaching Practical Robot Motion written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with categories.
In this thesis, a constraint-aware visual servoing control law is proposed. The control law is designed for a robot manipulator with an uncalibrated camera mounted on its end-effector. This control law allows the robot to execute large, collision-free motions with closed-loop positional accuracy. A reference image visually describes the desired end-effector position with respect to a target object whose location is initially unknown. The control law uses this reference image with online feedback from the camera to direct the trajectory of robot towards the completion of the positioning task. The control law generates feasible and realistic robot trajectories that respect the robot's joint position and velocity limits, even in the presence of large control gains. The control law also explicitly keeps the target object within the camera's field of view to provide uninterrupted visual feedback. The control law avoids potential whole-arm collisions with workspace obstacles via planning and control strategies. The visual servoing control law is implemented in a nonlinear model predictive control framework, using an estimated model of the eye-in-hand configuration and an estimated location of the target object. Two methods of approximating the object's location for joint-space path planning are demonstrated in simulations and experiments. The first uses homography estimation and decomposition on an un-modelled object. The second uses an extended Kalman filter with a prior object model to improve robustness against image noise and disturbances. Two planning and control strategies are presented. The first strategy uses an offline plan-then-servo approach that integrates probabilistic roadmaps with visual servoing. A method to construct paths between two robot configurations that keep the target object within the camera's field of view is demonstrated, allowing feasible transitions from planned motion to visual servoing. A method to address pose uncertainty to ensure collisi.
Visual Servoing In Robotics
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Author : Jorge Pomares
language : en
Publisher: MDPI
Release Date : 2021-08-31
Visual Servoing In Robotics written by Jorge Pomares and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-08-31 with Technology & Engineering categories.
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.
Domain Invariant And Semantic Aware Visual Servoing
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Author : Fereshteh Sadeghi
language : en
Publisher:
Release Date : 2019
Domain Invariant And Semantic Aware Visual Servoing written by Fereshteh Sadeghi and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019 with categories.
Robots should understand both semantics and physics in order to be able to make meaningful interactions in the real world. Vision is one of the primary modalities for us humans to learn and reason about our world. Equipping robots with semantic visual understanding can increase their versatility and realizes adaptable interaction using visual feedback. In this thesis, we investigate how to teach robots learn generalizable skills for diverse real world vision-based tasks that incorporate semantics while human effort and intervention is minimized. To this end, we address major challenging problems brought by real-world constraints for teaching highly generalizable, versatile and semantic aware vision-based robot policies in low cost and safe manner. We propose domain invariant visual servoing for both manipulation and navigation that enables seamless and direct transfer of vision-based robot policies from simulation to the real world. By introducing simulation randomization (domain randomization) we make it possible to collect large volumes of robot data in a low cost and safe fashion. Additionally, we devise techniques that incorporate spatio-temporal semantic visual reasoning on RGB images to train highly generalizable and versatile vision-based robot policies in 3D simulation. More concretely, we investigate several research questions in this thesis: (1) How can learning algorithms be used to enable machines gain visual semantic understanding? (2) How can we learn robotic skills safely and how we can equip robots with visual semantics to make them capable of doing diverse tasks while requiring small amount of robot data? (3) How can we enable our robots/machines to adapt to new unknown environments and situations? I will propose several first steps towards answering these questions in this thesis.
Robot Motion Planning With Visual Constraints
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Author : Herry Sutanto
language : en
Publisher:
Release Date : 1997
Robot Motion Planning With Visual Constraints written by Herry Sutanto and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1997 with Locomotion categories.
Visual Servoing Via Advanced Numerical Methods
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Author : Graziano Chesi
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-03-15
Visual Servoing Via Advanced Numerical Methods written by Graziano Chesi and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-03-15 with Technology & Engineering categories.
Robots able to imitate human beings have been at the core of stories of science?ctionaswellasdreamsofinventorsforalongtime.Amongthe various skills that Mother Nature has provided us with and that often go forgotten, the ability of sight is certainly one of the most important. Perhaps inspired by tales of Isaac Asimov, comics and cartoons, and surely helped by the progress of electronics in recent decades, researchers have progressively made the dream of creating robots able to move and operate by exploiting arti?cial vision a concrete reality. Technically speaking, we would say that these robots position themselves and their end-e?ectors by using the view provided by some arti?cial eyes as feedback information. Indeed, the arti?cial eyes are visual sensors such as cameras that have the function to acquire an image of the environment. Such an image describes if and how the robot is moving toward the goal and hence constitutes feedback information. This procedure is known in robotics with the term visual servoing, and it is nothing else than an imitation of the intrinsic mechanism that allows human beings to realize daily tasks such as reaching the door of the house or grasping a cup of co?ee.
Planning Of Visual Servoing Tasks For Robotics
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Author : Alexis Nicolin
language : en
Publisher:
Release Date : 2022
Planning Of Visual Servoing Tasks For Robotics written by Alexis Nicolin and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022 with categories.
Robots are increasingly present in the industrial environment. Originally programmed manually by their operators, today's robots are progressively using paths calculated by programs that simulate the entire work environment. However, modelling or even execution errors require testing periods to ensure that the robot will perform its task correctly.This thesis intends to link the concept of constraint that the motion planner takes into account with the robot's real-time control software, which manages the correct execution of tasks. The control must take into consideration the data from the robot's multiple sensors to adapt the planned paths to reality and ensure that its objectives are achieved. This thesis is being carried out within the framework of a CIFRE agreement between the LAAS-CNRS laboratory and the company Airbus Operations. It is also part of ROB4FAM, a common laboratory between thosetwo entities, which aims at studying the future of robotics applied to aeronautical construction.The main contribution of this thesis is the automatic generation of such control software based on the constraints expressed at the planning stage. Until now, this type of correspondence was mostly established manually. Among the different typesof control schemes available, special emphasis has been placed on visual servo control. This is due to the fact that cameras are affordable sensors capable of generating a considerable amount of data. But above all modern computers are now able to process this volume of information efficiently in real-time. Finally, the control software we present in this manuscript uses a strict hierarchy of commands. This means that the robot will seek to ensure the achievement of the first objective, usually related to the preservation of its integrity, before consideringthe following ones. With this architecture, the robot can adapt to minor changes in its objectives while ensuring the safety of the operators, its working environment and its structure itself. The concepts and software developed during this thesis were implemented on a humanoid robot, TALOS, and then on a mobile wheeled robot equipped with amanipulator arm, TIAGo. They were able to accomplish their tasks, despite the displacement of the objects they were going to manipulate between the movement planning stage and the program execution stage.
Proceedings
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Author :
language : en
Publisher:
Release Date : 2000
Proceedings written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2000 with Intelligent control systems categories.
Robot Control
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Author : Claude Samson
language : en
Publisher: Oxford University Press, USA
Release Date : 1991
Robot Control written by Claude Samson and has been published by Oxford University Press, USA this book supported file pdf, txt, epub, kindle and other format this book has been release on 1991 with Technology & Engineering categories.
A complete approach to the problem of controlling robot manipulators needs to bring together three scientific branches: computer science, mechanics, and automatic control.
Vision For Robotics
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Author : Danica Kragic
language : en
Publisher: Now Publishers Inc
Release Date : 2009
Vision For Robotics written by Danica Kragic and has been published by Now Publishers Inc this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009 with Artificial vision categories.
Robot vision refers to the capability of a robot to visually perceive the environment and use this information for execution of various tasks. Visual feedback has been used extensively for robot navigation and obstacle avoidance. In the recent years, there are also examples that include interaction with people and manipulation of objects. In this paper, we review some of the work that goes beyond of using artificial landmarks and fiducial markers for the purpose of implementing visionbased control in robots. We discuss different application areas, both from the systems perspective and individual problems such as object tracking and recognition.
Control Problems In Robotics
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Author : Antonio Bicchi
language : en
Publisher: Springer Science & Business Media
Release Date : 2007-07-12
Control Problems In Robotics written by Antonio Bicchi and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-07-12 with Technology & Engineering categories.
The ?eld of robotics continues to ?ourish and develop. In common with general scienti?c investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scienti?c or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the ?elds of robotics research – rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The edited volume by Antonio Bicchi, Henrik Christensen and Domenico Prattichizzo is the outcome of the second edition of a workshop jointly sponsored by the IEEE Control Systems Society and the IEEE Robotics and Automation Society. Noticeably, the previous volume was published in the Springer Lecture Notes on Control and Information Sciences. The authors are recognised as leading scholars internationally. A n- ber of challenging control problems on the forefront of today’s research in robotics and automation are covered, with special emphasis on vision, sensory-feedback control, human-centered robotics, manipulation, planning, ?exible and cooperative robots, assembly systems.