Multi-cameras visual servoing for dual-arm coordinated manipulation
| Autor: | Fuhai Zhang, Jiadi Qu, Shuxiang Guo, Yili Fu |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Computer science Orientation (computer vision) business.industry General Mathematics 020208 electrical & electronic engineering Field of view 02 engineering and technology Visual servoing Object (computer science) Computer Science Applications Dual (category theory) 020901 industrial engineering & automation Control and Systems Engineering Position (vector) 0202 electrical engineering electronic engineering information engineering Robot Computer vision Motion planning Artificial intelligence business Software |
| Zdroj: | Robotica. 35:2218-2237 |
| ISSN: | 1469-8668 0263-5747 |
| DOI: | 10.1017/s0263574716000849 |
| Popis: | SUMMARYAlthough image-based visual servoing (IBVS) provides good performance in many dual-arm manipulation applications, it reveals some fatal limitations when dealing with a large position and orientation uncertainty. The object features may leave the camera's field of view, and the dual-arm robot may not converge to their goal configurations. In this paper, a novel vision-based control strategy is presented to resolve these limitations. A visual path planning method for dual-arm end-effector features is proposed to regulate the large initial poses to the pre-alignment poses. Then, the visual constraints between the position and orientation of two objects are established, and the sequenced subtasks are performed to attain the pose alignment of two objects by using a multi-tasks IBVS method. The proposed strategy has been implemented on a MOTOMAN robot to perform the alignment tasks of plug–socket and cup–lid, and results indicate that the plug and socket with the large initial pose errors 145.4 mm, 43.8○ (the average errors of three axes) are successfully aligned with the allowed pose alignment errors 3.1 mm, 1.1○, and the cup and lid with the large initial pose errors 131.7 mm, 20.4○ are aligned with the allowed pose alignment errors −2.7 mm, −0.8○. |
| Databáze: | OpenAIRE |
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