TY - GEN
T1 - Model Predictive 6D Image-Based Visual Servoing for 3C Products Assembly
AU - Qu, Ying
AU - Yang, Xiansheng
AU - Xie, Yixin
AU - Lou, Yunjiang
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - The application of visual servoing in robot assembly is very promising. In this paper, the 6-degree-of-freedom (DOF) image-based visual servoing (IBVS) control based on model predictive control (MPC) is implemented for 3C products assembly. Since the classical IBVS is calculated by multiplying the error times the pseudoinverse of an interaction matrix, it cannot handle constraints. Hence, the collision encountered in the process and the feature points out of the visual range cannot be solved well. Therefore, based on MPC, which can solve the servoing problems by transforming them into constrained optimization, this paper proposes a new MPC for the 3C products assembly system. In the new MPC, we estimate the depth information through image information, to solve the problem of deep collision, and propose a new cost function, which can better solve the problem of the system falling into a local optimal solution. Finally, the simulation verified in the ROS-Gazebo simulation results shows that the new control method is feasible and the control performance is more satisfactory.
AB - The application of visual servoing in robot assembly is very promising. In this paper, the 6-degree-of-freedom (DOF) image-based visual servoing (IBVS) control based on model predictive control (MPC) is implemented for 3C products assembly. Since the classical IBVS is calculated by multiplying the error times the pseudoinverse of an interaction matrix, it cannot handle constraints. Hence, the collision encountered in the process and the feature points out of the visual range cannot be solved well. Therefore, based on MPC, which can solve the servoing problems by transforming them into constrained optimization, this paper proposes a new MPC for the 3C products assembly system. In the new MPC, we estimate the depth information through image information, to solve the problem of deep collision, and propose a new cost function, which can better solve the problem of the system falling into a local optimal solution. Finally, the simulation verified in the ROS-Gazebo simulation results shows that the new control method is feasible and the control performance is more satisfactory.
KW - Assembly
KW - Image-based visual servoing (IBVS)
KW - Model predictive control (MPC)
KW - Robot control
UR - https://www.scopus.com/pages/publications/85136970657
U2 - 10.1007/978-3-031-13841-6_4
DO - 10.1007/978-3-031-13841-6_4
M3 - 会议稿件
AN - SCOPUS:85136970657
SN - 9783031138409
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 41
EP - 52
BT - Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings
A2 - Liu, Honghai
A2 - Ren, Weihong
A2 - Yin, Zhouping
A2 - Liu, Lianqing
A2 - Jiang, Li
A2 - Gu, Guoying
A2 - Wu, Xinyu
PB - Springer Science and Business Media Deutschland GmbH
T2 - 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022
Y2 - 1 August 2022 through 3 August 2022
ER -