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Image-Based Visual Servoing for Position Alignment With Orthogonal Binocular Vision

文献类型：期刊论文

作者Hao, Tiantian1,2; Xu, De1,2; Qin, Fangbo1,2
刊名IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
出版日期2023
卷号72页码:10
关键词Binocular vision image-based visual servoing (IBVS) control interaction matrix position alignment sensitivity for motion
ISSN号0018-9456
DOI10.1109/TIM.2023.3289560
通讯作者Xu, De(de.xu@ia.ac.cn)
英文摘要Image-based visual servoing (IBVS) methods have been widely used in many areas including the position alignment for assembly. However, the parallel vision system suffers from low sensitivity to motion along the optical axis due to the camera's perspective characteristics, which can lead to a larger alignment error along the optical axis of the camera and affect subsequent tasks. To address this issue, an innovative binocular eye-to-hand (ETH) vision system with two cameras whose optical axes are approximate orthogonal is designed. By deriving and analyzing the interaction matrix of point feature for the proposed system, its ability is demonstrated to improve sensitivity for motion along the optical axis. Furthermore, an IBVS control method with the proposed ETH vision system is developed for position alignment in a screw grasping experiment. A calibration method for the image Jacobian matrix is developed based on active motions of the robot's end-effector. Finally, the experimental results verify the effectiveness of the proposed methods. The position alignment errors in the experiments with the proposed vision system and method are less than 0.5 mm. The results indicate that the proposed method holds great potential for industrial applications in the area of small components' assembly.
WOS关键词DESIGN
资助项目National Natural Science Foundation of China[62273341] ; National Natural Science Foundation of China[62103413]
WOS研究方向Engineering ; Instruments & Instrumentation
语种英语
WOS记录号WOS:001029190800024
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/53939]  
专题中科院工业视觉智能装备工程实验室
脑图谱与类脑智能实验室
通讯作者Xu, De
作者单位1.Chinese Acad Sci, 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		 Hao, Tiantian,Xu, De,Qin, Fangbo. Image-Based Visual Servoing for Position Alignment With Orthogonal Binocular Vision[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2023,72:10.
APA Hao, Tiantian,Xu, De,&Qin, Fangbo.(2023).Image-Based Visual Servoing for Position Alignment With Orthogonal Binocular Vision.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,72,10.
MLA Hao, Tiantian,et al."Image-Based Visual Servoing for Position Alignment With Orthogonal Binocular Vision".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 72(2023):10.

入库方式： OAI收割

来源：自动化研究所

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