High-speed Tracking by Hand-eye Configured Visual Servoing with Cylindrical Coordinate Approach

Summary

We presents a visual servoing approach for high-speed manipulation with one eye-in-hand high-speed vision sensor. By exploiting the special features of high-speed visual feedback and motion, a direct visual servoing scheme based on a simplified interaction matrix is proposed. The camera's internal parameters are not calibrated. Simplifying the interaction matrix allows decoupling of motions, which improves global convergence. By further simplifying the interaction matrix so as to make it depth-independent, estimation of depth information is not needed, making the approach suitable for high-speed setpoint control.

Tracking process

Movie

Reference

1. 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
2. Shouren Huang,Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa: A Direct Visual Servo Scheme Based on Simplified Interaction Matrix for High-Speed Manipulation, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO2012), pp. 1950-1955 (2012)