High-speed Tracking by Hand-eye Configured Visual Servoing with Cylindrical Coordinate Approach
We presented a high-speed visual servo approach for tracking a moving target by a robot arm with eye-in-hand configuration. Instead of using the Cartesian coordinates in traditional methods, we applied of the cylindrical coordinates to enable a high-speed direct visual servoing. As we set the task of tracking a ball in 3D, we didn’t take into consideration of controlling the camera’s pose, but only its position.
In order to realize 3D translational high-speed visual servoing, we adopted the direct visual servo approach with application of the 1KHz CPV vision system, so the gap of the sampling rates existed in past would no longer be the problem. We realized the direct visual servo in a way that: the jacobian matrix was obtained from the forward kinematics analysis, and then with the analysis of the relationship between the image coordinate and cylindrical coordinate configured moving space, we obtained the input for the PD velocity controller,which incorporated the damped least square(DLS)technique to tackle with the singularity problem, and then the robot was controlled to realize high-speed tracking.
Image coordinate of target during tracking process
- Shouren Huang, Taku Senoo, Masatoshi Ishikawa: High-speed Visual Servoing with Cylindrical Coordinates by a Robot Arm, 12th SICE System Integration Division Annual Conference(SI2011)(Kyoto,2011.12.25)/ Proceedings, pp. 2457-2460