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The following topics are dealt with: robotics; biomimetics; microsystem; nanosystem; tactile sensors; mechatronics; path planning; rehabilation and wheelchair; laser image sensing and panoramic vision; human-machine interface; learning; visual servo and tracking; formation and SLAM; sensor networks; grasping; control and stability; modelling and task planning; manipulation; image processing; smart...
This paper describes a switching visual servoing control scheme designed for an underwater vehicle with nonholonomic constraints. The objective of the proposed control methodology is to provide a human tele-operator the capability to move the vehicle without loosing a visual target from the vision system's optical field. Target tracking and vehicle pose are obtained using a laser vision system (LVS)...
The importance of the robots for home, public places and many other places are increasing. In order to realize autonomous work in such dynamic and unknown environment, recognizing external world is required. In addition, robots also have to move quickly and work accurately. In this paper, the control system for a two wheels driven redundant mobile manipulator with a monocular camera as a visual sensor...
In this paper, the control problem, in a 3D cartesian space, of camera-in-hand robotic systems is considered. In this approach, a camera is mounted on the robot, at the hand, which provides an image of objects located in the robot environment. The aim of this approach is to move the robot arm in such a way that the image of the considered object, a sphere in our case, coincides with the center of...
In this paper, a region reaching controller with motion constraints is proposed for robot manipulator. In this control concept, the desired objective can be specified as a region instead of a point. In addition, physical constraints can be imposed on the robot motion by defining an additional region for the robot. For example, a region for the boundary of the end effector to avoid singular points...
This paper presents a task-space robot controller composed of two nested loops. The inner loop corresponds to a proportional derivative joint controller and the outer loop consists of a proportional integral controller fed by task space measurements. Stability is studied by means of the Lyapunov method and a visual servoing application is considered for experimentally assessing the performance of...
We present a visual servoing scheme enabling non-holonomic mobile robots with a fixed pinhole camera to reach and follow a continuous path on the ground. The controller utilizes only a small set of features extracted from the image plane, without using the complete geometric representation of the path. The scheme is position-based, and a Lyapunov-based stability analysis is carried out. The performance...
This paper presents a discrete learning controller for vision-guided robot trajectory imitation with no prior knowledge of the camera-robot model. A teacher demonstrates a desired movement in front of a camera, and then, the robot is tasked to replay it by repetitive tracking. The imitation procedure is considered as a discrete tracking control problem in the image plane, with an unknown and time-varying...
In this paper, we present a new integration method for improving the performance of visual servoing. The method integrates both image-based visual servoing (IBVS) and position-based visual servoing (PBVS) to satisfy the requirements of the visual servoing process. We define a probabilistic integration rule for IBVS and PBVS controllers. Density functions that determine the probability of each controller...
This paper deals with the image-based dynamic visual feedback control via the passivity approach which is investigated in the position-based one. We construct an energy function using the error in the image plane. The passivity of the visual feedback system is derived from the energy function. We show passivity of the image-based dynamic visual feedback system by combining the passivity of both the...
In the last decade, research on vision-based robot control has been concentrated on two main issues: the narrow field of view of the conventional camera and the model dependency of the standard visual servoing approaches. In this paper, we propose a simple and elegant solution to these issues. To enlarge the field of view of the cameras, we use omnidirectional cameras. And to overcome the model dependency...
Based on a recent state-of-the-art image-based visual feedback control scheme in fixed uncalibrated camera proposed by the authors, the experimental verification is presented. However, image acquisition and processing for closed-loop control introduces technological challenges through the time delay induced by the CCD camera itself. Thus, to preserve the time domain algorithm and to avoid discretization...
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