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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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17 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.
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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
s.m.hazarika@iitg.ac.in
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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