POSITION-BASED VISUAL SERVOING IN ROBOTIC CAPTURE OF MOVING TARGET ENHANCED BY KALMAN FILTER

Benoit P. Larouche and Zheng H. Zhu

References

  1. [1] N.-G. Cui, P. Wang, J.-F. Guo, and X. Cheng, A review of on-orbit servicing, Journal of Astronautics, 28(4), 2007, 33–39.
  2. [2] A. Kroll and S. Soldan, Survey results on status, needs and perspectives for using mobile service robots in industrial applications, Proc. 11th Int. Conf. on Control, Automation, Robotics and Vision, 1(1), Singapore, 2010, 621–626.
  3. [3] U. Reiser, C. Connette, J. Fischer, J. Kubacki, et al., Care-O-Bot r 3 – Creating a product vision for service robot applications by integrating design and technology, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1(1), 2009, 1992–1998.
  4. [4] A. Jain and C. Kemp, EL-E: An assistive mobile manipu-lator that autonomously fetches objects from flat surfaces,Autonomous Robots, 28(1), 2010, 45–64.
  5. [5] F. Aghili, A prediction and motion-planning scheme for visually guided robotic capturing of free-floating tumbling objects with uncertain dynamics, IEEE Transactions on Robotics, 28(3), 2012, 634–649.
  6. [6] F. Roe, R. Howard, and L. Murphy, Automated rendezvousand capture system development and simulation for NASA,Proceedings of the SPIE, 1(1), 2004, 118–125.
  7. [7] H. Wang, Y.-H. Liu, and D. Zhou, Adaptive visual servoing using point and line features with an uncalibrated eye-in-hand camera, IEEE Transactions on Robotics, 24(4), 2008, 843–857.
  8. [8] S.S. Srinivasa, D. Berenson, M. Cakmak, A. Collet, et al., Herb 2.0: Lessons learned from developing a mobile manipulator for the home, Proceedings of the IEEE, 100(8), 2012, 2410–2428.
  9. [9] W. Chung, G. Kim, and M. Kim, Development of the multi-functional indoor service robot PSR systems, AutonomousRobots, 22(1), 2007, 1–17.
  10. [10] I. Siradjuddin, L. Behera, M. McGinnity, and S. Coleman, Image-based visual servoing of a 7-DOF robot manipulator using an adaptive distributed fuzzy PD controller, IEEE/ASME Transactions on Mechatronics, 1(1), 2013, 1–12.
  11. [11] F. Chaumette and S. Hutchinson, Visual servo control, IEEE Robotics and Automation Magazine, March, 7, 2007, 109–118.
  12. [12] J. Correa and A. Soto, Active visual perception for mobile robot localization, Journal of Intelligent Robotic Systems, 58(3–4), 2010, 339–354.
  13. [13] E. Muehlenfeld and H. Raubenheimer, Image-processing with matched scanning of contours, Proceedings Society of Photo-Optics Instrumentations and Engineering, 397, 1983, 125–130.
  14. [14] F. Chaumette and S. Hutchinson, Visual servo control – part I: Basic approaches, IEEE Robotics & Automation Magazine, 13(4), 2006, 82–90.
  15. [15] F. Chaumette and S. Hutchinson, Visual servo control – part II: Advanced approaches, IEEE Robotics & Automation Magazine, 14(1), 2007, 109–118.
  16. [16] V. Lippiello, B. Siciliano, and L. Villani, A position-based visual impedance control for robot manipulators, Proc. IEEE Int. Conf. on Robotics and Automation, Roma, 2007, 2068–2073.
  17. [17] S.Y. Chen, Kalman filter for robot vision: A survey, IEEE Transactions on Industrial Electronics, 59(11), 2012, 4409–4420.
  18. [18] K. Hashimoto, A review on vision-based control of robot manipulators, Advanced Robotics, 17(10), 2003, 969–991.
  19. [19] F. Janabi-Sharifi and M. Marey, A Kalman-filter-based method for pose estimation in visual servoing. IEEE Transactions on Robotics, 26(5), 2010, 939–947.
  20. [20] D.H. Kim and W.H. Oh, Robust control design for flexible joint manipulators: Theory and experimental verification, International Journal of Control, Automation, and Systems, 4(4), 2006, 495–505.
  21. [21] F. Mazzini and S. Dubowsky, Experimental Validation ofthe tactile exploration by a manipulator with joint backlash, Journal of Mechanisms and Robotics, 4(1), 2012, 011009–011009-8.
  22. [22] M. Ozdemir and S. Ider, Inverse dynamics control of parallel manipulators around singular configurations, Journal of Mechanical Engineering Science, 14(3), 2007, 50–62.
  23. [23] J. Pomares, I. Perea, and F. Torres, Dynamic visual servo-ing with chaos control for redundant robots, IEEE/ASME Transactions on Mechatronics, 19(2), 2014, 423–431.
  24. [24] G. Bradski and A. Kaehler, Learning OpenCV: Computervision with the OpenCV library (Sebastopol, CAssO’ReillyMedia Inc., 2008).
  25. [25] Z.H. Zhu, R.V. Mayorga, and A.K. Wong, Dynamic robotmanipulator trajectory planning for obstacle avoidance,Mechanics Research Communications, 26(2), 1999, 139–144.
  26. [26] B.P. Larouche and Z.H. Zhu, Autonomous robotic captureof non-cooperative target using visual servoing and motionpredictive control, Autonomous Robots, 37(2), 2014, 157–167.
  27. [27] C. Liu, X. Huang, and M. Wang, Target tracking for visual servo-ing systems based on an adaptive Kalman filter, International Journal of Advanced Robotic Systems, 9(149), 2012, 1–12.
  28. [28] M. Barut, R. Demir, and E. Zerdali, Real-time implementation of bi input-extended Kalman filter-based estimator for speed-sensorless control of induction motors, IEEE Transactions on Industrial Electronics, 59(11), 2012, 4197–4206.

Important Links:

Go Back