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Image-based visual servoing using improved image moments in 6-DOF robot systems

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  • Robotics and Automation
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Abstract

This paper addresses the challenges of choosing proper image features for planar symmetric shape objects and designing visual servoing controller to enhance the tracking performance in image-based visual servoing (IBVS). Six image moments are chosen as the image features and the analytical image interaction matrix related to the image features are derived. A controller is designed to efficiently increase the robustness of the visual servoing system. Experimental results on a 6-DOF robot visual servoing system are provided to illustrate the effectiveness of the proposed method.

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Authors and Affiliations

  1. Department of Mechanical & Industrial Engineering, Concordia University, 1455 De Maisonneuve W., Montreal, QC, H3G 1M8, Canada

    Yimin Zhao, Wen-Fang Xie & Sining Liu

Authors
  1. Yimin Zhao
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  2. Wen-Fang Xie
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  3. Sining Liu
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Corresponding author

Correspondence to Wen-Fang Xie.

Additional information

Recommended by Editorial Board member Dong-Joong Kang under the direction of Editor Hyouk Ryeol Choi.

This work was supported in part by the Natural Sciences and Engineering Research Council (NSERC), Canada.

Yimin Zhao is a software engineer with Photronics Inc. Canada. He received his Ph.D. from Concordia University in 2012 and his Master degree from Hebei University of Technology in 1989. Before he joined Concordia University, he is a professor with Hebei University of Science and Technology, China. His research interests include multi-body dynamic system control, nonlinear control, process control, and visual servoing.

Wen-Fang Xie is an associate professor with the Department of Mechanical and Industrial Engineering at Concordia University, Montreal, Canada. She was an Industrial Research Fellowship holder from Natural Sciences and Engineering Research Council of Canada (NSERC) and served as a senior research engineer in InCoreTec, Inc. Canada before she joined Concordia University in 2003. She received her Ph.D. from The Hong Kong Polytechnic University in 1999 and her Master degree from Beijing University of Aeronautics and Astronautics in 1991. Her research interests include nonlinear control in mechatronics, artificial intelligent control, advanced process control and system identification and visual servoing.

Sining Liu received her B.E. degree in Automation Science and Technology from Xi’an Jiaotong University, Xi’an, China, in 2006 and her M.Sc. degree in Mechanical Engineering from Concordia University, Montreal, Canada, in 2008. She is currently a Ph.D. candidate at the Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Canada. Her current research interests cover image processing, visual servoing, hysteresis and adaptive control.

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Zhao, Y., Xie, WF. & Liu, S. Image-based visual servoing using improved image moments in 6-DOF robot systems. Int. J. Control Autom. Syst. 11, 586–596 (2013). https://doi.org/10.1007/s12555-012-0232-9

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  • DOI: https://doi.org/10.1007/s12555-012-0232-9

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