Visual Control of Robots: high-performance visual servoing
Peter Corke
Wiley 1996 (now out of print but available as a free PDF).
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.
Download: Visual Control of Robots (the Blue Book) (PDF, 3.1 MB)
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 facilities (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