Visual Control of Robots: high-performance visual servoing

Peter Corke

Wiley 1996 (now out of print but available as a free PDF).

frontcover

 

This book is essentially my 1994 PhD thesis from University of Melbourne.  The work started in 1988 while I was at U. Penn GRASP lab, and continued after I returned to Melbourne and started my PhD in 1990.

The books looks in fine detail at the dynamics of robot and vision system performance and evaluates a number of different controllers to maximize closed-loop tracking error.

 

Early experiments in visual servoing

 

Visual feedback, 2-DOF

  • Vision: 60Hz
  • binary segmentation (Datacube)
  • centroid feature APA-512
  • Robot control: microVAX
  • RCI
  • Unimate position loops
  • Communications: ethernet, UDP protocol
  • University of Pennsylvania, GRASP Laboratory, 1988.

Experimental facilties (2:44)

  • CSIRO, 1990-94. Section 5.2

Experiments in visual servoing (4:20)

  • Visual feedback, 1- and 2-DOF
  • Vision: 50Hz
  • binary segmentation (Datacube)
  • centroid feature APA-512+
  • Robot control: MVME-147 (25MHz)
  • ARCL/AMI
  • Unimate position loops
  • Communications: VMEbus
  • CSIRO, 1990-92. Section 5.3

Visual feedforward control (6:34)

  • Visual feedforward control, 1- and 2-DOF
  • Vision: binary segmentation (Datacube)
  • centroid feature APA-512+
  • Robot control: MVME-147 (25MHz)
  • ARCL/AMI
  • software velocity loops (50Hz)
  • Communications: VMEbus
  • CSIRO, 1992-93. Section 5.7

Visual control of a major robot axis (9:21)

  •  Visual feedback, 1-DOF
  • Vision: 50Hz
  • binary segmentation (Datacube)
  • centroid feature APA-512+
  • Robot control: MVME-147 (25MHz)
  • AMI
  • computed torque, software velocity loops (500Hz)
  • Communications: VMEbus
  • CSIRO, 1993. Section 6.1

Translational visual servoing (9:48)

  • Visual feedforward, 3-DOF
  • Vision: 50Hz
  • binary segmentation (Datacube)
  • 2 centroid features APA-512+
  • Robot control: MVME-147 (33MHz)
  • AMI
  • computed-torque, software velocity loops (250Hz)
  • Communications: VMEbus
  • CSIRO, 1994. Section 6.2