Enhanced Switch Image-Based Visual Servoing Dealing with FeaturesLoss
In this paper, an enhanced switch image-based visual servoing controller for a six-degree-of-freedom (DOF) robot with a monocular eye-in-hand camera configuration is presented. The switch control algorithm separates the rotating and translational camera motions and divides the image-based visual ser...
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doaj-831d07751c1a44099e5c0660af7ca42f2020-11-25T02:18:33ZengMDPI AGElectronics2079-92922019-08-018890310.3390/electronics8080903electronics8080903Enhanced Switch Image-Based Visual Servoing Dealing with FeaturesLossAhmad Ghasemi0Pengcheng Li1Wen-Fang Xie2Wei Tian3Department of Mechanical, Industrial & Aerospace Engineering, Concordia University, Montreal, QC 1455, CanadaDepartment of Mechanical, Industrial & Aerospace Engineering, Concordia University, Montreal, QC 1455, CanadaDepartment of Mechanical, Industrial & Aerospace Engineering, Concordia University, Montreal, QC 1455, CanadaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaIn this paper, an enhanced switch image-based visual servoing controller for a six-degree-of-freedom (DOF) robot with a monocular eye-in-hand camera configuration is presented. The switch control algorithm separates the rotating and translational camera motions and divides the image-based visual servoing (IBVS) control into three distinct stages with different gains. In the proposed method, an image feature reconstruction algorithm based on the Kalman filter is proposed to handle the situation where the image features go outside the camera’s field of view (FOV). The combination of the switch controller and the feature reconstruction algorithm improves the system response speed and tracking performance of IBVS, while ensuring the success of servoing in the case of the feature loss. Extensive simulation and experimental tests are carried out on a 6-DOF robot to verify the effectiveness of the proposed method.https://www.mdpi.com/2079-9292/8/8/903image-based visual servoingimage feature lossindustrial robotsswitch control |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Ahmad Ghasemi Pengcheng Li Wen-Fang Xie Wei Tian |
spellingShingle |
Ahmad Ghasemi Pengcheng Li Wen-Fang Xie Wei Tian Enhanced Switch Image-Based Visual Servoing Dealing with FeaturesLoss Electronics image-based visual servoing image feature loss industrial robots switch control |
author_facet |
Ahmad Ghasemi Pengcheng Li Wen-Fang Xie Wei Tian |
author_sort |
Ahmad Ghasemi |
title |
Enhanced Switch Image-Based Visual Servoing Dealing with FeaturesLoss |
title_short |
Enhanced Switch Image-Based Visual Servoing Dealing with FeaturesLoss |
title_full |
Enhanced Switch Image-Based Visual Servoing Dealing with FeaturesLoss |
title_fullStr |
Enhanced Switch Image-Based Visual Servoing Dealing with FeaturesLoss |
title_full_unstemmed |
Enhanced Switch Image-Based Visual Servoing Dealing with FeaturesLoss |
title_sort |
enhanced switch image-based visual servoing dealing with featuresloss |
publisher |
MDPI AG |
series |
Electronics |
issn |
2079-9292 |
publishDate |
2019-08-01 |
description |
In this paper, an enhanced switch image-based visual servoing controller for a six-degree-of-freedom (DOF) robot with a monocular eye-in-hand camera configuration is presented. The switch control algorithm separates the rotating and translational camera motions and divides the image-based visual servoing (IBVS) control into three distinct stages with different gains. In the proposed method, an image feature reconstruction algorithm based on the Kalman filter is proposed to handle the situation where the image features go outside the camera’s field of view (FOV). The combination of the switch controller and the feature reconstruction algorithm improves the system response speed and tracking performance of IBVS, while ensuring the success of servoing in the case of the feature loss. Extensive simulation and experimental tests are carried out on a 6-DOF robot to verify the effectiveness of the proposed method. |
topic |
image-based visual servoing image feature loss industrial robots switch control |
url |
https://www.mdpi.com/2079-9292/8/8/903 |
work_keys_str_mv |
AT ahmadghasemi enhancedswitchimagebasedvisualservoingdealingwithfeaturesloss AT pengchengli enhancedswitchimagebasedvisualservoingdealingwithfeaturesloss AT wenfangxie enhancedswitchimagebasedvisualservoingdealingwithfeaturesloss AT weitian enhancedswitchimagebasedvisualservoingdealingwithfeaturesloss |
_version_ |
1724881416159756288 |