Title :
Visual control architecture of servoing systems based on image moments
Author :
Copot, Cosmin ; Burlacu, Adrian ; Lazar, Corneliu
Author_Institution :
Dept. of Autom. Control & Appl. Inf., Gheorghe Asachi Tech. Univ. of Iasi, Iasi, Romania
Abstract :
In this paper an image moments-based visual control architecture of servoing systems is presented. As visual features, image moments are analyzed to establish performances in different types of servoing applications. An image-based visual control scheme for 6 d.o.f. manipulators is presented. Robot dynamics are modeled as a Virtual Cartesian Motion Device. The designed control law ensures convergence towards zero for the image plane error, convergence obtained from driving each decoupled joint of the manipulator robot. A Simulink implementation was proposed, that represents an extension for an existent Matlab servoing toolbox. Performances for point features-based and image moments-based control laws were analyzed.
Keywords :
convergence; manipulator dynamics; robot vision; servomechanisms; 6 d.o.f. manipulators; Matlab servoing toolbox; Simulink implementation; convergence; features based control; image moments; image plane error; robot dynamics; servoing systems; virtual cartesian motion device; visual control architecture; Cameras; Control systems; Image analysis; Image sensors; Manipulators; Mathematical model; Robot kinematics; Robot sensing systems; Robot vision systems; Visual servoing;
Conference_Titel :
Optimization of Electrical and Electronic Equipment (OPTIM), 2010 12th International Conference on
Conference_Location :
Basov
Print_ISBN :
978-1-4244-7019-8
DOI :
10.1109/OPTIM.2010.5510558
