NDLI: Switching Control of Image-Based Visual Servoing With Laser Pointer in Robotic Manufacturing Systems

Content Provider	IEEE Xplore Digital Library
Author	Wen-Fang Xie Zheng Li Xiao-Wei Tu Perron, C.
Copyright Year	1982
Abstract	In this paper, an Eye-in-Hand robotic system with laser pointer is developed to detect, grasp, and assemble a planar object on a main body in robotic manufacturing systems. This paper is focused on detecting the object and moving the end effector to a position where a pump can perfectly suck up the object. A switching control of image-based visual servoing (IBVS) is designed to control the pose of the end effector with respect to the stationary object so that the image features of the planar object observed by the camera converge to the target image features for the further assembly. A simple off-the-shelf laser pointer is adopted to realize the depth estimation for obtaining the image Jacobian matrices. By using a laser spot as an image feature and the separate degree-of-freedom method, the proposed switch-control algorithm decouples the rotational and translational motions of the camera to avoid the inherent drawbacks of traditional IBVS. The experiments on a robotic assembly system are given to verify the effectiveness of the proposed method.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	520
Ending Page	529
Page Count	10
File Size	664920
File Format	PDF
ISSN	02780046
Volume Number	56
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-02-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optical control Control systems Visual servoing Robots Manufacturing systems Robotic assembly Object detection End effectors Cameras Pump lasers visual servoing laser pointer robot vision systems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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