A New Visual Servoing Method for Grasping and Assembling Objects using Stereo Image Based Feedback
Subject Areas :
robotics
mahmoud jeddi
1
,
ahmad reza khoogar
2
1 - Faculty of Material and Manufacturing Technologies
Malek Ashtar University of Technology, Tehran, Iran
2 - Faculty of Material and Manufacturing Technologies
Malek Ashtar University of Technology, Tehran, Iran
Received: 2021-02-25
Accepted : 2021-06-17
Published : 2023-03-01
Keywords:
References:
Hashimoto, K., A review on vision-based control of robot manipulators, Adv. Robot. Int. J. Robot. Soc. Japan, Vol. 17, No. 10, 2003, pp. 969–991.
Corke, P., Robotics, Vision and Control: Fundamental Algorithms In MATLAB®Second, Completely Revised, Vol. 118, 2017.
Chaumette, F., Hutchinson, S., Visual Servo Control, I. Basic Approaches, IEEE Robot. Autom. Mag., Vol. 13, No. 4, 2006, pp. 82–90.
Chaumette, F., Hutchinson, S., Visual Servo Control, II. Advanced Approaches [Tutorial], IEEE Robot. Autom. Mag., Vol. 14, No. 1, 2007, pp. 109–118.
Keshmiri, M., Xie, W. F., and Mohebbi, A., Augmented Image-Based Visual Servoing of A Manipulator Using Acceleration Command, IEEE Trans. Ind. Electron., Vol. 61, No. 10, 2014, pp. 5444–5452.
Chaumette, F., Potential Problems of Stability and Convergence in Image-Based and Position-Based Visual Servoing, In The Confluence of Vision and Control, Springer, 1998, pp. 66–78.
Xie, W. F., Li, Z., Tu, X. W., and Perron, C., Switching Control of Image-Based Visual Servoing With Laser Pointer in Robotic Manufacturing Systems, IEEE Trans. Ind. Electron., Vol. 56, No. 2, 2008, pp. 520–529.
Shu, T., Gharaaty, S., Xie, W., Joubair, A., and Bonev, I. A., Dynamic Path Tracking of Industrial Robots with High Accuracy Using Photogrammetry Sensor, IEEE/ASME Trans. Mechatronics, Vol. 23, No. 3, 2018, pp. 1159–1170.
Shen, Y., Xiang, G., Liu, Y. H., and Li, K., Uncalibrated Visual Servoing of Planar Robots, In Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No. 02CH37292), Vol. 1, 2002, pp. 580–585.
Ghasemi, A., Li, P., and Xie, W. F., Adaptive Switch Image-Based Visual Servoing for Industrial Robots, Int. J. Control. Autom. Syst., Vol. 18, No. 5, 2020, pp. 1324–1334.
Ghasemi A., Xie, W. F., Decoupled Image-Based Visual Servoing for Robotic Manufacturing Systems Using Gain Scheduled Switch Control, In 2017 International Conference on Advanced Mechatronic Systems (ICAMechS), 2017, pp. 94–99.
Liang, X., Wang, H., Liu, Y. H., Chen, W., and Zhao, J., A Unified Design Method for Adaptive Visual Tracking Control of Robots with Eye-In-Hand/Fixed Camera Configuration, Automatica, Vol. 59, 2015, pp. 97–105.
Wang, H., Adaptive Visual Tracking for Robotic Systems Without Image-Space Velocity Measurement, Automatica, Vol. 55, 2015, pp. 294–301.
Dong G., Zhu, Z. H., Kinematics-Based Incremental Visual Servo for Robotic Capture of Non-Cooperative Target, Rob. Auton. Syst., Vol. 112, 2019, pp. 221–228.
Keshmiri M., Xie, W. F., Image-Based Visual Servoing Using an Optimized Trajectory Planning Technique, IEEE/ASME Trans. Mechatronics, Vol. 22, No. 1, 2016, pp. 359–370.
Zheng, D., Wang, H., Chen, W., and Wang, Y., Planning and Tracking in Image Space for Image-Based Visual Servoing of A Quadrotor, IEEE Trans. Ind. Electron., Vol. 65, No. 4, 2017, pp. 3376–3385.
Zhao, Y., Xie, W. F., and Liu, S., Image-Based Visual Servoing Using Improved Image Moments in 6-DOF Robot Systems, Int. J. Control. Autom. Syst., Vol. 11, No. 3, 2013, pp. 586–596.
Payeur, P., Le-Huy, H., and Gosselin, C. M., Trajectory Prediction for Moving Objects Using Artificial Neural Networks, IEEE Trans. Ind. Electron., Vol. 42, No. 2, pp. 147–158, 1995.
Hashimoto, H., Kubota, T., Sato, M., and Harashima, F., Visual Control of Robotic Manipulator Based on Neural Networks, IEEE Trans. Ind. Electron., Vol. 39, No. 6, pp. 490–496, 1992.
Martinet, P., Cervera, E., Stacking Jacobians Properly in Stereo Visual Servoing, In Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164), Vol. 1, 2001, pp. 717–722.
Kim, D. J., Lovelett, R., and Behal, A., Eye-in-Hand Stereo Visual Servoing of an Assistive Robot Arm in Unstructured Environments, In 2009 IEEE International Conference on Robotics and Automation, 2009, pp. 2326–2331.
