A visual guided robot using CAD models and fuzzy controller for industrial manipulation

A visual positioning method is proposed to use the CAD model of an object to determine its position and orientation in real-time. Vision oriented features are generated off-line from the CAD model of the object by taking into account the camera intrinsic parameters. The proposed method can successfully identify the pose of the object even though some part of the object cannot be seen by the camera during manipulation. In addition to the CAD model based visual positioning method, a fuzzy controller is adopted to visually guide an EPSON robot for industrial manipulation and/or assembly. The controller can successfully stabilize and smoothly move the robot to the target object in experiments.

[1]  Peter Corke,et al.  VISUAL CONTROL OF ROBOT MANIPULATORS – A REVIEW , 1993 .

[2]  François Chaumette,et al.  Visual servo control. I. Basic approaches , 2006, IEEE Robotics & Automation Magazine.

[3]  D. Kosmopoulos.  Robust Jacobian matrix estimation for image-based visual servoing , 2011 .

[4]  Laxmidhar Behera,et al.  Visual servoing of redundant manipulator with Jacobian matrix estimation using self-organizing map , 2010, Robotics Auton. Syst..

[5]  Farzin Piltan,et al.  Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator , 2013 .

[6]  Yoshiaki Shirai,et al.  Guiding a robot by visual feedback in assembling tasks , 1973, Pattern Recognit..

[7]  Masayuki Inaba,et al.  Multi-cue 3D object recognition in knowledge-based vision-guided humanoid robot system , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Peter I. Corke,et al.  Dynamic effects in visual closed-loop systems , 1996, IEEE Trans. Robotics Autom..

[9]  Fadi Dornaika,et al.  Visually guided object grasping , 1998, IEEE Trans. Robotics Autom..

[10]  Peter I. Corke,et al.  A tutorial on visual servo control , 1996, IEEE Trans. Robotics Autom..

[11]  Koichiro Deguchi,et al.  Optimal Motion Control for Image-Based Visual Servoing by Decoupling Translation and Rotation , 1999 .

[12]  Gregory D. Hager,et al.  Vision-based robot control , 1998 .

[13]  Seth Hutchinson,et al.  Visual Servo Control Part I: Basic Approaches , 2006 .

[14]  Vesna Rankovi,et al.  APPLICATION OF THE TAKAGI-SUGENO FUZZY CONTROLLER FOR SOLVING THE ROBOTS' INVERSE KINEMATICS PROBLEM , 2003 .

[15]  Jharna Majumdar,et al.  A CAD Model Based System for Object Recognition , 1997, J. Intell. Robotic Syst..

[16]  João Miguel da Costa Sousa,et al.  Uncalibrated Eye-to-Hand Visual Servoing Using Inverse Fuzzy Models , 2008, IEEE Transactions on Fuzzy Systems.

[17]  William J. Wilson,et al.  Relative end-effector control using Cartesian position based visual servoing , 1996, IEEE Trans. Robotics Autom..

[18]  Charles R. Dyer,et al.  Model-based recognition in robot vision , 1986, CSUR.