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Microsoft PowerPoint - W1_intro_martinet.pptIOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005 Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
October 17th – December 16th, 2005
Professor Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Outline of the presentation
Basic concepts •Introduction •Classification
Modeling tools Computer vision
Control •Kinematic control •Task function
Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
A set of basic notation
v=(v ω ) Kinematic Screw
e Task Function (Error function)
s Sensor signal (At each iteration)
iVj Frame change matrix for L
s* Sensor signal (At equilibrium)
L Interaction matrix
C Combination matrix
Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
Degushi, Devy, Dornaika, Espiau, Feddema, Gangloff, Ginoux, Hager, Hamel, Hashimoto, Horaud, Hutchinson,
Jagersand, Kanade, Kelly, Khosla, Khadraoui, Kragic, Iwatsuki, Lee, Malis, Marchand, Martinet, Mezouar, Motyl,
Myasaki, Nelson, Hosoda, Papanikolopoulos, Piepmier, Pissard-Gibollet, Rives, Sanderson, Soueres, Swain, Urban,
Weiss, ….. (non exhaustive)
IBVS Image Based
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Features
Extraction
Daucher, Dhome, Grosso, Krupa, Martinet, Malis, Morel, Rizzi, Sandini, Sharifi, Siciliano, Wilson, Zanne, ….. (non
exhaustive)
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Features
Extraction
exhaustive)
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
Bolles and Paul in 73 Shirai and Inoue in 73
Fixed camera Assembly tasks « Look and move »
Sanderson and Weiss 87 Classification
Espiau 87 Sensor based control
Samson, Espiau 89 Task function approach
(non exhaustive bibliography)
…….
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
Position based visual servoing
Malis 97 2D+1/2 visual servoing
Corke 94 Dynamic visual servoing
Maru 93 Stereo
Force/vision coupling
Cretual 98 2D+dt visual servoing
Corke 93, Gangloff 96, Hashimoto 96 Bensalah 96, Piepmeir 02
Target tracking
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
Mezouar 00-02 Trajectory generation
Martinet 02 , Siciliano 02 Wilson 02
Position based visual servoing
Corke, Hutchinson 02 Partitioned visual servoing
Malis 00, Martinet/Cervera 01-02
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
Horaud 02, Mezouar 04 Central catadioptric Cameras
Chesi 03, Corke 02, Malis 99
Mezouar 02, Morel 03 Thuilot 02
Field of view
Malis 03 Stability pb in depth distribution
Non exhaustive Bibliography : see the web site for a longer one
Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
Normalized
coordinates
Z
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts








=
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
The kth line is given by :
Use of Kinematic model
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
Simplified modeling of the loop Integration due to the sensor
pp&
q&
q&
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
Simplified modeling of the loop
e
C
p
p* + -
p&
*
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
The task function characterizes the robotic
task to be performed and allows to establish
a virtual link between the sensor and the
environment.
q*(t) represents a desired trajectory in the joint space
The robotic task can be described as
a regulation to zero of a task function
Samson, Espiau
d* represents a desired distance between the
object and the end effector
Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
(dim = m x k, full rank m); It allows
to take into account more sensor
informations than necessary to
perform the robot control.
When the sensor deliver the information s and dim(s)= k , the task function to be regulated can written like:
km ≤ )dim(qn =( ) ( )( )*
1 ,., stpsCtpe −=
)dim(em =
)dim(sk =
nm ≤
of e 1
perform the robotic task)
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
Task redondancy
s
δ
δ
p
s
δ
- one primary task e 1
(maintain an interaction constraint
- one secondary task (minimize a cost function h s )
T
sT
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
( ) T
Represent two operators which guarantee that the induced motions
due to the secondary task (included in the kernel of W) are
compatible with the convergence of s to s* (primary task)
Global task function WWI
Orthogonal projector on
preponderance of the primary
secondary task
WWI m
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
( ) ( )( )*,., strsCtre 1
Task function
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Basic
concepts
A cooking approach : spherical, cylindrical, mixture…
A large number of robot applications
Research community is growing (thanks for all of us)
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005 Philippe Martinet
Professor Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
October 17th – December 16th, 2005
Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Outline of the presentation
Force/Vision control
Mobile Robot
Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
3D … 3D Visual servoing
Positioning task
Dhome, Jurie
Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
ST … Stereo Visual servoing
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
FV … Force and vision coupling
Robot control
By vision/force
from Castellon, Spain
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
Outline of the presentation
Force/Vision control
Mobile Robot
Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
2D … Automatic Guided Vehicles
Combine-harvester
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
2D … Automatic Guided Vehicles
Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
PTZ
Controlled
Camera
Clady [02]
Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
2D … Automatic Guided Vehicles : target tracking
Clady [02]
Philippe Martinet
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
2D … Automatic Guided Vehicles : visual memory
Blanc [04] Ait Ader[04]
Navigation using visual memory
IOCoViST – UJI / UMH International Online Course on Visual Servoing Techniques
September 17th – December 16th, 2005
2D … Automatic Guided Vehicles : visual memory
Blanc [04] Ait Ader[04]
Navigation using visual memory