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Study of Visual Servoing for Robot Hand Control

机器人手控视觉伺服研究

基本信息

批准号：
07455167
负责人：
DEGUCHI Koichiro
金额：
$ 3.78万
依托单位：
University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1996
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07455167/
关键词：
Robot Control Computer Vision Visual Servoing Image Processing Active Vision Image Compression Motion IMage Analysis Behavior Control コンピュータ・ビジョンロボット視覚画像処理

项目摘要

In this research, we established a methodology for robot hand control by visual servoing technique, and constructed experimetnal system to verify its performances.As the research result, we present a general scheme to represent the relation between dynamic images and camera motion. We also propose its application to visual servoing.For a specific objects, whole combination of image data and camera position form the product space. The camera cannot obtain any arbitrary image, so that within this space the possible combination of the camera pose and the obtained image should be constrained on a lower dimensionla hyper surface. Our basic idea is that the visual servoing is interpreted as to find a path on this surface leading to a given goal image.Our approach is to analyze the properties of this surface, and utilize its differential or tangential property for vusual servoing. For this approach, the dimension of the image information becomes key problem. We propose to use the principal component analysis and to represent images with a composition of small number of "eigenimages" by using K-L (Karhunen-Loeve) expansion.In the report of the research, we describe, first, that a normal vector of this surface is related to the so-called Interation Matrix, and confirm the deasibility of our basic idea visual servoing with preliminary experiments. Then, we present a dynamical estimation of the normal vectors to move robot arm mouting a camera to a goal position where a given goal image will be obtained. We also consider the construction of the eigen space (the eigenimage space) to represent images efficietly and to speed-up convergence in the control. Experimental results of visual servoing with proposed method show the feasibility and applicability of our newly proposed approach.

本研究建立了一套以视觉伺服技术进行机械手控制的方法，并建构实验系统以验证其效能，作为研究结果，我们提出一套一般性的动态影像与摄影机运动关系的表示方法。对于特定的对象，图像数据和摄像机位置的整体组合构成产品空间。相机不能获得任何任意图像，因此在该空间内，相机姿态和所获得的图像的可能组合应被约束在较低维度的超曲面上。我们的基本思想是将视觉伺服解释为在这个曲面上寻找一条通向给定目标图像的路径，我们的方法是分析这个曲面的性质，并利用它的微分或切向性质进行视觉伺服。对于这种方法，图像信息的维数成为关键问题。本文提出用主成分分析方法，用K-L（Karhunen-Loeve）展开表示由少量“特征图像”组成的图像，首先描述了这种曲面的法向量与所谓的“交互矩阵”的关系，并通过初步实验证实了视觉伺服基本思想的可行性。然后，我们提出了一个动态的法向量估计移动机器人手臂安装摄像机的目标位置，在那里将获得一个给定的目标图像。我们还考虑了本征空间（本征图像空间）的构造，以有效地表示图像并加快控制中的收敛速度。视觉伺服系统的实验结果表明，我们的新方法的可行性和适用性。