CONACyT: Visual Servo Control of Robotic Systems

IRI-9613737伊利诺伊大学-香槟·哈钦森，赛斯(与跨学科活动办公室共同资助50,025-36 MOS总奖金--100,025美元)CONACyT：机器人系统的视觉伺服控制该奖项在美国国家科学基金会-CONACyT倡议下，资助与墨西哥恩塞纳达的Cientifica y de Education acion Superior de Ensenada(CICESE)研究人员的合作。合作的目标是将伊利诺伊大学机器人视觉伺服控制方面的扩展研究与CICSE的动力学和控制研究结合起来。这应该能够在视觉伺服控制器的设计和评估中考虑机器人动力学，从而产生更健壮设计的主动视觉系统。这项研究以前侧重于几何方面，将扩大到包括系统动力学。CICSE的研究将开发一个评估一类视觉伺服控制器的框架，并将为执行严格的稳定性分析提供基础。这应该会为工程机器人系统带来新的能力，其中摄像头的放置和机器人的可操作性配置可以同时优化。这可能会扩大视觉伺服的潜在应用范围，特别是涉及移动障碍物和场景中移动的目标对象的情况。

IRI-9613737 University of Illinois-Champaign Hutchinson, Seth (Jointly funded with the Office of Cross Disciplinary Activities $50,025 - 36 mos Total award--$100,025) CONACyT: Visual Servo Control of Robotic Systems This award, under the NSF-CONACyT initiative, funds a collaboration with researchers at the Centro de Investigacion Cientifica y de Educacion Superior de Ensenada (CICESE) in Ensenada, Mexico. The goal of the collaboration is to combine expanded research in visual servo control of robotic manipulators at the University of Illinois with research on dynamics and control at CICSE. This should enable consideration of robot dynamics in the design and evaluation of visual servo controllers, thereby yielding active visual systems of more robust design. The research, which has previously focused on geometric aspects, will be expanded to include the system dynamics. The research at CICSE will develop a framework for evaluating a class of visual servo controllers and will also yield a basis for performing rigorous stability analyses. This should lead to new capabilities for engineering robotic systems in which the camera placement and the robot configuration for manipulability can be optimized simultaneously. That could expand the range of potential applications of visual servoing, especially to situations involving moving obstacles and target objects that are moving in the scene.