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Vision‐based motion control for robotic systems
Author(s) -
Oda Naoki,
Ito Masahide,
Shibata Masaaki
Publication year - 2009
Publication title -
ieej transactions on electrical and electronic engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.254
H-Index - 30
eISSN - 1931-4981
pISSN - 1931-4973
DOI - 10.1002/tee.20395
Subject(s) - flexibility (engineering) , controller (irrigation) , computer science , optical flow , visual servoing , artificial intelligence , computer vision , motion (physics) , motion control , active vision , motion controller , robot , control engineering , servo control , machine vision , engineering , servo , image (mathematics) , statistics , mathematics , agronomy , biology
The paper presents recent advances of vision‐based motion control for robotic systems. The visual feedback loop is very effective for increasing the dexterity and flexibility of robot's task. With the development of vision and computer technology, the visual feedback applications are remarkably expanded for various robotic systems. In the paper, at first, a variety of vision‐based approaches in Japan are overviewed from the viewpoint of motion control scheme, and fundamental formulations of visual servo controller are described. And two kinds of visual feedback applications are introduced with several experimental evaluations. The first one is non‐delayed visual tracking approach using active stereo vision. It is found that the target motion estimation is an important issue for fast tracking. The other is the motion controller for wheelchair‐type mobile robots based on optical flow field. The vision‐based feedback controller conducts the force‐related motion. Then, the vision makes dynamic environmental change transmitted to human operator through force interaction. The validity of these approaches are evaluated by experimental results. Copyright © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.