Dual Quaternion-Based Visual Servoing for Grasping Moving Objects
Dual Quaternion-Based Visual Servoing for Grasping Moving Objects
复制标题
用于抓取移动物体的双四元数视觉伺服
DOI：
10.1109/case49439.2021.9551631
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Naresh Marturi
中科院分区：
文献类型：
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作者：
Cristiana Miranda de Farias;Maxime Adjigble;B. Tamadazte;R. Stolkin;Naresh Marturi
提出了一种新的基于对偶四元数的姿态视觉伺服控制方法。扩展我们以前的工作本地接触矩（LoCoMo）的抓规划，我们展示了在3D空间中任意移动的物体的抓。而不是使用传统的轴角参数化，双四元数允许设计的视觉伺服任务，在一个更紧凑的方式，并提供鲁棒性的机械手奇异。给定对象点云，LoCoMo生成抓取和预抓取姿势的排名列表，其用作视觉伺服的期望姿势。只要对象移动（通过视觉标记跟踪），所需的姿势就会自动更新。为此，利用对偶四元数空间距离误差，我们提出了一个动态的把握重新排名度量，以选择最佳可行的把握移动对象。这使得机器人可以很容易地跟踪和抓住任意移动的物体。此外，我们还探索机器人零空间与我们的控制器，以避免关节的限制，从而实现平滑的轨迹，同时以下移动的对象。我们评估所提出的视觉伺服系统的性能进行模拟实验，掌握各种对象，使用7轴机器人装有2指夹持器。所获得的结果表明，我们提出的视觉伺服的效率。
This paper presents a new dual quaternion-based formulation for pose-based visual servoing. Extending our previous work on local contact moment (LoCoMo) based grasp planning, we demonstrate grasping of arbitrarily moving objects in 3D space. Instead of using the conventional axis-angle parameterization, dual quaternions allow designing the visual servoing task in a more compact manner and provide robustness to manipulator singularities. Given an object point cloud, LoCoMo generates a ranked list of grasp and pre-grasp poses, which are used as desired poses for visual servoing. Whenever the object moves (tracked by visual marker tracking), the desired pose updates automatically. For this, capitalising on the dual quaternion spatial distance error, we propose a dynamic grasp re-ranking metric to select the best feasible grasp for the moving object. This allows the robot to readily track and grasp arbitrarily moving objects. In addition, we also explore the robot null-space with our controller to avoid joint limits so as to achieve smooth trajectories while following moving objects. We evaluate the performance of the proposed visual servoing by conducting simulation experiments of grasping various objects using a 7-axis robot fitted with a 2-finger gripper. Obtained results demonstrate the efficiency of our proposed visual servoing.