Decoupled Intensity-Based Nonmetric Visual Servo Control

Autor(es)

Silveira, Geraldo ^[1] ; Mirisola, Luiz ^[2] ; Morin, Pascal ^[3]

Afiliação do(s) autor(es)

^[1] Ctr Informat Technol Renato Archer, Robot & Comp Vis Res Grp, BR-13069901 Campinas - Brazil

^[2] Technol Inst Aeronaut, Div Comp Sci, BR-12228900 Sao Jose Dos Campos - Brazil

^[3] Sorbonne Univ, Inst Syst Intelligents & Robot, CNRS, F-75005 Paris - France

• Tipo de documento: Artigo Científico
• Fonte: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY; v. 28, n. 2, p. 566-573, MAR 2020.
• Citações Web of Science: 0

Resumo

This brief addresses the problem of vision-based robot control where the equilibrium state is defined via a goal image. Specifically, we consider the class of intensity-based nonmetric solutions, which provide for high accuracy, versatility, and robustness. Existing techniques within that class present a fully coupled translational and rotational control error dynamics, what increases analysis complexity and may degrade system performance. This brief proposes a new intensity-based nonmetric visual servoing technique that decouples the translational control error dynamics, regardless of the observed object characteristics, camera displacements, and their relative poses. The obtained system is thus lower triangular in the general case. For some practical cases, the proposed general technique leads to the Grail of a fully decoupled (i.e., strictly diagonal) linear dynamics. The theoretical analysis of local diffeomorphism, local exponential stability, and those decoupling properties is provided. Improved performances are also experimentally confirmed using a 6-DoF robotic arm in various positioning and tracking tasks. (AU)

• Processo FAPESP: 17/22603-0 - Rastreamento visual e servovisão ótimos, unificados e robustos: Novas técnicas e aplicações a sistemas autônomos
• Beneficiário: Geraldo Figueiredo da Silveira Filho
• Modalidade de apoio: Bolsas no Exterior - Pesquisa
• Processo FAPESP: 14/50851-0 - INCT 2014: Instituto Nacional de Ciência e Tecnologia para Sistemas Autônomos Cooperativos Aplicados em Segurança e Meio Ambiente
• Beneficiário: Marco Henrique Terra
• Modalidade de apoio: Auxílio à Pesquisa - Temático