This paper presents a practical experiment on the use of visual servoing for robotic tracking and manipulation of objects moving on a plane. In this work, the image is acquired from the camera mounted on the end-effector of a 6 DOF industrial robot, and processed on a standard PC-based vision system in order to close the visual servoing loop with a PID based controller. The PID has been implemented with a variable structure, modified according to the estimated velocity of the target, in order to achieve a good step response and to eliminate steady-state error with a moving target. The possibility to perform a stable tracking and to estimate the target dynamics allows also to grasp the object with a prediction based trajectory planning.
Variable Structure PID Based Visual Servoing for Robotic Tracking and Manipulation / M., Bonfè; E., Mainardi; Fantuzzi, Cesare. - STAMPA. - 1:(2002), pp. 396-401. (Intervento presentato al convegno Intelligent Robots and System, 2002. IEEE/RSJ International Conference on tenutosi a Lausanne, Switzerland nel 30 Sept.-5 Oct. 2002).
Variable Structure PID Based Visual Servoing for Robotic Tracking and Manipulation
FANTUZZI, Cesare
2002
Abstract
This paper presents a practical experiment on the use of visual servoing for robotic tracking and manipulation of objects moving on a plane. In this work, the image is acquired from the camera mounted on the end-effector of a 6 DOF industrial robot, and processed on a standard PC-based vision system in order to close the visual servoing loop with a PID based controller. The PID has been implemented with a variable structure, modified according to the estimated velocity of the target, in order to achieve a good step response and to eliminate steady-state error with a moving target. The possibility to perform a stable tracking and to estimate the target dynamics allows also to grasp the object with a prediction based trajectory planning.
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