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Image-Based Visual Servoing System for Components Alignment Using Point and Line Features

文献类型：期刊论文

作者Yan, Shaohua1,2; Tao, Xian1,2; Xu, De1,2
刊名IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
出版日期2022
卷号71页码:11
关键词Deep neural network feature extraction image-based visual servoing interaction matrix pose error estimation robotic assembly system
ISSN号0018-9456
DOI10.1109/TIM.2022.3165794
通讯作者Xu, De(de.xu@ia.ac.cn)
英文摘要The design of visual servoing system for robotic high-precision assembly is of great challenge. For the difficulty of insufficient accuracy of target object feature extraction, a deep neural network combined with feature pyramid network (FPN) structure is proposed. This lightweight network requires only a small amount of labeled data to achieve significant segmentation results. The control laws of translation and orientation for component alignment are separately designed. The translation is controlled based on the interaction matrix of point features. The orientation is controlled based on the interaction matrix of line features. The relations between the cameras' motion and the end-effector of the manipulator are calibrated via the manipulator's active movements, which are 3 x 3 transformation matrices. The depth information of feature points is integrated into the transformation matrix. The alignment pose error estimation is realized with the interaction matrices, transformation matrices, and point and line features. A robotic assembly system is developed to assemble two aviation circular connectors with six degree-of-freedoms (DOFs) in high precision in 3-D space. The experimental results verify the effectiveness of the proposed method.
资助项目National Key Research and Development Program of China[2018AAA0103004] ; National Natural Science Foundation of China[61873266] ; Beijing Municipal Natural Science Foundation[4212044]
WOS研究方向Engineering ; Instruments & Instrumentation
语种英语
WOS记录号WOS:000785793200003
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Key Research and Development Program of China ; National Natural Science Foundation of China ; Beijing Municipal Natural Science Foundation
源URL[http://ir.ia.ac.cn/handle/173211/48374]  
专题精密感知与控制研究中心_精密感知与控制
通讯作者Xu, De
作者单位1.Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式
GB/T 7714		 Yan, Shaohua,Tao, Xian,Xu, De. Image-Based Visual Servoing System for Components Alignment Using Point and Line Features[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2022,71:11.
APA Yan, Shaohua,Tao, Xian,&Xu, De.(2022).Image-Based Visual Servoing System for Components Alignment Using Point and Line Features.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,71,11.
MLA Yan, Shaohua,et al."Image-Based Visual Servoing System for Components Alignment Using Point and Line Features".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 71(2022):11.

入库方式： OAI收割

来源：自动化研究所

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