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Embedded Visual Control for Robotics 5HC99

Embedded Visual Control for Robotics 5HC99. ir . Roel Pieters & dr. Dragan Kosti ć Section Dynamics and Control Dept. Mechanical Engineering { r.s.pieters , d.kostic }@ tue.nl October 22 nd , 2010. Outline. 2. 2. Visual Servo Robot Control Camera Configurations

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Embedded Visual Control for Robotics 5HC99

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  1. Embedded VisualControl for Robotics 5HC99 ir. Roel Pieters & dr. DraganKostić Section Dynamics and Control Dept. Mechanical Engineering {r.s.pieters, d.kostic}@tue.nl October 22nd, 2010

  2. Outline 2 2 • Visual Servo Robot Control • Camera Configurations • Omnidirectional Vision • Experiences 5HC99 2009-10 • Assignment 5HC99 2010-11

  3. Visual Servo Robot Control • Refers to a closed-loop control of the pose of a robot by utilizing the information extracted from vision sensors. • Integrates different technologies: • image processing & computer vision, • electronics, DSP-based computerhardware & software development, • multi-body kinematics, dynamics and control theory.

  4. Fixed Camera 4 • Semi-automated Foosball table • One side controlled bya robotic system • Vision: • finds ball • finds puppets • removes all the features but the ball • @ 100 Hz

  5. Moving Camera 5 TechUnited – RoboCup

  6. Omnidirectional Vision 6 • Object detection(ball, field, lines, goal, robots) • Positioning (move to target,avoid an obstructor) • Localization, world map(where am I?)

  7. Experiences 5HC99 2009-10 7

  8. Blackfin + OpenCV + iArm 8 8

  9. Assignment 5HC99 2010-11 9 9 • Homography-based Visual Servoing. • Application in two case-studies: • mobile robot navigation, • motion control of a robot arm. • Experimental demonstrations.

  10. Questions

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