.png){kind=icon}
返回
Image-Based Visual Servoing System for Components Alignment Using Point and Line Features
.png){kind=icon}
PRE
AI
DOI：10.1109/TIM.2022.3165794.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
The design of visual servoing system for robotic high-precision assembly is of great challenge. For the difficulty of insufficient accuracy of target object feature extraction, a deep neural network combined with feature pyramid network (FPN) structure is proposed. This lightweight network requires only a small amount of labeled data to achieve significant segmentation results. The control laws of translation and orientation for component alignment are separately designed. The translation is controlled based on the interaction matrix of point features. The orientation is controlled based on the interaction matrix of line features. The relations between the cameras' motion and the end-effector of the manipulator are calibrated via the manipulator's active movements, which are 3 x 3 transformation matrices. The depth information of feature points is integrated into the transformation matrix. The alignment pose error estimation is realized with the interaction matrices, transformation matrices, and point and line features. A robotic assembly system is developed to assemble two aviation circular connectors with six degree-of-freedoms (DOFs) in high precision in 3-D space. The experimental results verify the effectiveness of the proposed method.
Keyword:
Deep neural network
feature extraction
image-based visual servoing
interaction matrix
pose error estimation
robotic assembly system
期刊
IF:
5.9
论文数:
1.9W
被引数:
5.8W
机构
引用论文
Thermal comfort, perceived air quality, and cognitive performance when personally controlled air movement is used by tropically acclimatized persons当热带适应的人使用个人控制的空气运动时，热舒适性，感知的空气质量和认知表现.png)
Indoor Air
OAAI
Indoor AirIF0
OAAI分享收藏3-D Inspection Method for Industrial Product Assembly Based on Single X-Ray Projections基于单条x射线投影的工业产品装配三维检测方法
PREAI
分享收藏
分享收藏Relative Pose Estimation for Alignment of Long Cylindrical Components Based on Microscopic Vision
PREAI
分享收藏A Simultaneous Optimization Method of Calibration and Measurement for a Typical Hand-Eye Positioning System典型手眼定位系统标定与测量的同时优化方法
PREAI
分享收藏
查看更多内容