Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

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Description

The objective of this project is to enable current and future EM robots with an increased ability to perceive and interact with unstructured and unknown environments through the use of camera-based visual servo controlled robots. The scientific goals of this research are to develop a new visual servo control methodology that: (1) adapts for the unknown camera calibration parameters (e.g., focal length, scaling factors, camera position and orientation) and the physical parameters of the robotic system (e.g., mass, inertia, friction), (2) compensates for unknown depth information (extract 3D information from the 2D image), and (3) enables multi-uncalibrated cameras to be ... continued below

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Dixon, Warren June 1, 2002.

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  • Oak Ridge National Laboratory
    Publisher Info: Oak Ridge National Lab., Oak Ridge, TN (United States)
    Place of Publication: Oak Ridge, Tennessee

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Description

The objective of this project is to enable current and future EM robots with an increased ability to perceive and interact with unstructured and unknown environments through the use of camera-based visual servo controlled robots. The scientific goals of this research are to develop a new visual servo control methodology that: (1) adapts for the unknown camera calibration parameters (e.g., focal length, scaling factors, camera position and orientation) and the physical parameters of the robotic system (e.g., mass, inertia, friction), (2) compensates for unknown depth information (extract 3D information from the 2D image), and (3) enables multi-uncalibrated cameras to be used as a means to provide a larger field-of-view. Nonlinear Lyapunov-based techniques are being used to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current visual servo controlled robotic systems. The potential relevance of this control methodology will be a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature extraction and recognition, to enable current EM robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). These capabilities will enable EM robots to significantly accelerate D&D operations by providing for improved robot autonomy and increased worker productivity, while also reducing the associated costs, removing the human operator from the hazardous environments, and reducing the burden and skill of the human operators.

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  • Other Information: PBD: 1 Jun 2002

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  • June 1, 2002

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  • Dec. 3, 2015, 9:30 a.m.

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  • April 21, 2016, 2:11 p.m.

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Dixon, Warren. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach, report, June 1, 2002; Oak Ridge, Tennessee. (digital.library.unt.edu/ark:/67531/metadc781953/: accessed August 20, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.