Moment-Based 2.5-D Visual Servoing for Textureless Planar Part Grasping
Moment-Based 2.5-D Visual Servoing for Textureless Planar Part Grasping
复制标题
用于无纹理平面零件抓取的基于力矩的 2.5-D 视觉伺服
DOI：
10.1109/tie.2018.2886783
复制
发表时间：
2019
影响因子：
7.7
通讯作者：
Zhao Xinyue
中科院分区：
文献类型：
--
作者：
He Zaixing;Wu Chenrui;Zhang Shuyou;Zhao Xinyue
传统的基于矩的视觉伺服方法在工业应用中由于利用高阶图像矩而存在一些问题。本文从实际工业应用的角度分析了基于矩的视觉伺服的不足，提出了一种新的基于矩的二维半视觉伺服方法，用于抓取无纹理平面零件。我们使用混合视觉功能，结合联合收割机图像的时刻与三维（3-D）旋转在笛卡尔空间中控制机器人的运动。而不是应用高阶图像矩，我们使用旋转功能，它提供了一个解耦的相互作用矩阵，是满秩的，没有局部最小值的控制方案。此外，为了真实的估计无纹理部分的相对旋转，提出了一种新的基于互相关分析的估计方法。所提出的视觉伺服方法提供了一个更好的运动控制和3-D轨迹的机器人手臂，并保持稳定的工作空间。实验结果证明了该方法的有效性。
Conventional moment-based visual servoing methods suffer from several problems in industrial applications due to the utilization of high-order image moments. In this paper, we analyze the shortcomings of the moment-based visual servoing from the viewpoint of practical industrial applications, and propose a novel moment-based two-and-a-half-dimensional visual servoing method for grasping textureless planar parts. We use hybrid visual features that combine image moments with three-dimensional (3-D) rotation in the Cartesian space to control the robot motion. Instead of applying high-order image moments, we use rotation features, which provide a decoupled interaction matrix that is full rank and with no local minimum in the control scheme. Furthermore, to estimate the relative rotation of the textureless part in real time, a new estimation method based on a cross-correlation analysis is proposed. The proposed visual servoing method provides a better motion control and 3-D trajectory of the robot arm and remains stable in the workspace. Experimental results demonstrate the effectiveness of the method.