Direct dynamic visual servoing at 1 kHz by using the product as 1.5D encoder

J.J.T.H. Best, de; M.J.G. Molengraft, van de; M. Steinbuch

doi:10.1109/ICCA.2009.5410329

Direct dynamic visual servoing at 1 kHz by using the product as 1.5D encoder

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

7 Citaten (Scopus)

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This paper focusses on direct dynamic visual servoing at high sampling rates for machines used for the production of products that inherently consist of equal features placed in a repetitive pattern. A mechanical system is controlled on the basis of vision only. In contrast to kinematic visual servoing approaches, we do not use a hierarchical control structure. More specifically, the motor inputs are driven directly by the vision controller without the intervention of low level joint controllers. The product in view consists of a repetitive pattern, which is used a 1.5D encoder purely on the basis of vision. Using fast image processing and a prediction based on a steady-state Kalman filter a 1 kHz direct visual servoing setup is created capable of using the repetitive pattern as a 1.5D encoder with an accuracy of 50 um. The design is validated on an experimental setup.

Originele taal-2	Engels
Titel	Proceedings of the 7th IEEE International Conference on Control & Automation (ICCA'09)
Plaats van productie	New Zealand, Christchurch
Uitgeverij	Institute of Electrical and Electronics Engineers
Pagina's	361-366
ISBN van geprinte versie	978-1-4244-4706-0
DOI's	https://doi.org/10.1109/ICCA.2009.5410329
Status	Gepubliceerd - 2009
Evenement	conference; ICCA'09, 7th IEEE International Conference on Control & Automation, Christchurch, New Zealand, December 9-11, 2009; 2009-12-09; 2009-12-11 - Duur: 9 dec. 2009 → 11 dec. 2009

Congres

Congres	conference; ICCA'09, 7th IEEE International Conference on Control & Automation, Christchurch, New Zealand, December 9-11, 2009; 2009-12-09; 2009-12-11
Periode	9/12/09 → 11/12/09
Ander	ICCA'09, 7th IEEE International Conference on Control & Automation, Christchurch, New Zealand, December 9-11, 2009

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10.1109/ICCA.2009.5410329

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title = "Direct dynamic visual servoing at 1 kHz by using the product as 1.5D encoder",

abstract = "This paper focusses on direct dynamic visual servoing at high sampling rates for machines used for the production of products that inherently consist of equal features placed in a repetitive pattern. A mechanical system is controlled on the basis of vision only. In contrast to kinematic visual servoing approaches, we do not use a hierarchical control structure. More specifically, the motor inputs are driven directly by the vision controller without the intervention of low level joint controllers. The product in view consists of a repetitive pattern, which is used a 1.5D encoder purely on the basis of vision. Using fast image processing and a prediction based on a steady-state Kalman filter a 1 kHz direct visual servoing setup is created capable of using the repetitive pattern as a 1.5D encoder with an accuracy of 50 um. The design is validated on an experimental setup.",

author = "\{Best, de\}, J.J.T.H. and \{Molengraft, van de\}, M.J.G. and M. Steinbuch",

year = "2009",

doi = "10.1109/ICCA.2009.5410329",

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address = "United States",

note = "conference; ICCA\'09, 7th IEEE International Conference on Control \& Automation, Christchurch, New Zealand, December 9-11, 2009; 2009-12-09; 2009-12-11 ; Conference date: 09-12-2009 Through 11-12-2009",

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Best, de, JJTH, Molengraft, van de, MJG & Steinbuch, M 2009, Direct dynamic visual servoing at 1 kHz by using the product as 1.5D encoder. in Proceedings of the 7th IEEE International Conference on Control & Automation (ICCA'09). Institute of Electrical and Electronics Engineers, New Zealand, Christchurch, blz. 361-366, conference; ICCA'09, 7th IEEE International Conference on Control & Automation, Christchurch, New Zealand, December 9-11, 2009; 2009-12-09; 2009-12-11, 9/12/09. https://doi.org/10.1109/ICCA.2009.5410329

Direct dynamic visual servoing at 1 kHz by using the product as 1.5D encoder. / Best, de, J.J.T.H.; Molengraft, van de, M.J.G.; Steinbuch, M.
Proceedings of the 7th IEEE International Conference on Control & Automation (ICCA'09). New Zealand, Christchurch: Institute of Electrical and Electronics Engineers, 2009. blz. 361-366.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

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AB - This paper focusses on direct dynamic visual servoing at high sampling rates for machines used for the production of products that inherently consist of equal features placed in a repetitive pattern. A mechanical system is controlled on the basis of vision only. In contrast to kinematic visual servoing approaches, we do not use a hierarchical control structure. More specifically, the motor inputs are driven directly by the vision controller without the intervention of low level joint controllers. The product in view consists of a repetitive pattern, which is used a 1.5D encoder purely on the basis of vision. Using fast image processing and a prediction based on a steady-state Kalman filter a 1 kHz direct visual servoing setup is created capable of using the repetitive pattern as a 1.5D encoder with an accuracy of 50 um. The design is validated on an experimental setup.

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Direct dynamic visual servoing at 1 kHz by using the product as 1.5D encoder

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