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Lecture41 IntelligentControl VisualServoing I

The lecture discusses Visual Servo Control, emphasizing the integration of vision systems in robot controllers for non-contact sensing and cognitive processing. It contrasts open-loop systems with visual servoing, which allows for closed-loop position control of robot end-effectors. Various servoing architectures, including dynamic look-and-move systems and direct visual servoing systems, are explored, highlighting their differences in control structures and error signal definitions.

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Sampreeti Mazumdar
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30 views14 pages

Lecture41 IntelligentControl VisualServoing I

The lecture discusses Visual Servo Control, emphasizing the integration of vision systems in robot controllers for non-contact sensing and cognitive processing. It contrasts open-loop systems with visual servoing, which allows for closed-loop position control of robot end-effectors. Various servoing architectures, including dynamic look-and-move systems and direct visual servoing systems, are explored, highlighting their differences in control structures and error signal definitions.

Uploaded by

Sampreeti Mazumdar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Robotics Vision and Control

Lecture 41: Visual Servo Control - I

Shyamanta M Hazarika
Biomimetic Robotics and Artificial Intelligence Lab
Mechanical Engineering
Indian Institute of Technology Guwahati
[email protected]
Visual Servo Control
o Vision is an important non-­contact sensor;;
allowing to mimic the human sense of vision
and cognitive processing!
o Robot Controllers with fully integrated vision
systems.
o Typically visual sensing and manipulation are
combined in an ‘open-­loop’ fashion – looking
and moving.
o Machine vision can provide closed-­loop
position control for a robot end-­effector. This
is referred to as visual servoing.
2 © Shyamanta M Hazarika, ME, IIT Guwahati
Visual Servo Control
Open-loop vs. Visual Servoing

3 © Shyamanta M Hazarika, ME, IIT Guwahati


Camera Configuration
Two Different Configurations

4 © Shyamanta M Hazarika, ME, IIT Guwahati


Camera Configuration
Two Different Configurations

5 © Shyamanta M Hazarika, ME, IIT Guwahati


Control Structure
Two Open Questions
o Is the control structure hierarchical with the
vision system providing set-­points as inputs to
the robot’s joint-­level controller? i.e., Does the
visual controller directly compute the joint-­
level inputs?

6 © Shyamanta M Hazarika, ME, IIT Guwahati


Control Structure
Two Open Questions
o Is the control structure hierarchical with the
vision system providing set-­points as inputs to
the robot’s joint-­level controller? i.e., Does the
visual controller directly compute the joint-­
level inputs?

o Is the error signal defined in 3D i.e., the task


space coordinates? Or Is it directly in terms of
image features?

7 © Shyamanta M Hazarika, ME, IIT Guwahati


Servoing Architectures
Dynamic Look-and-Move Systems
o These systems perform the control of the
robot in two stages: vision provides the input
to the robot controller that uses joint feedback
to internally stabilize the robot.

8 © Shyamanta M Hazarika, ME, IIT Guwahati


Servoing Architectures
Dynamic Look-and-Move Systems
o These systems perform the control of the
robot in two stages: vision provides the input
to the robot controller that uses joint feedback
to internally stabilize the robot.

Direct Visual Servoing Systems


o Here, visual controller directly computes the
input to the robot joints, i.e., the robot
controller is eliminated.
9 © Shyamanta M Hazarika, ME, IIT Guwahati
Servoing Architectures
Dynamic Position-based Look-and-Move

10 © Shyamanta M Hazarika, ME, IIT Guwahati


Servoing Architectures
Dynamic Image-based Look-and-Move

11 © Shyamanta M Hazarika, ME, IIT Guwahati


Servoing Architectures
Position-based Visual Servo

12 © Shyamanta M Hazarika, ME, IIT Guwahati


Servoing Architectures
Image-based Visual Servo

13 © Shyamanta M Hazarika, ME, IIT Guwahati


EOL vs. ECL
o EOL: endpoint open-loop; only the target is
observed by the camera
o ECL: endpoint closed-loop; target as well as end-
effector are observed by the camera

EOL ECL

14 © Shyamanta M Hazarika, ME, IIT Guwahati

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