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Visual control architecture of servoing systems based on image moments

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3 Author(s)
Cosmin Copot ; Department of Automatic Control and Applied Informatics, “Gheorghe Asachi” Technical University of Iasi, Romania ; Adrian Burlacu ; Corneliu Lazar

In this paper an image moments-based visual control architecture of servoing systems is presented. As visual features, image moments are analyzed to establish performances in different types of servoing applications. An image-based visual control scheme for 6 d.o.f. manipulators is presented. Robot dynamics are modeled as a Virtual Cartesian Motion Device. The designed control law ensures convergence towards zero for the image plane error, convergence obtained from driving each decoupled joint of the manipulator robot. A Simulink implementation was proposed, that represents an extension for an existent Matlab servoing toolbox. Performances for point features-based and image moments-based control laws were analyzed.

Published in:

Optimization of Electrical and Electronic Equipment (OPTIM), 2010 12th International Conference on

Date of Conference:

20-22 May 2010