Direct Motion Planning for Vision-Based Control
Automation Science and Engineering, IEEE Transactions (2014)
摘要
This paper presents direct methods for vision-based control for the application of industrial inkjet printing. In this, visual control is designed with a direct coupling between camera measurements and joint motion. Traditional visual servoing commonly has a slow visual update rate and needs an additional local joint controller to guarantee stability. By only using the product as reference and sampling with a high update rate, direct visual measurements are sufficient for controlled positioning. The proposed method is simpler and more reliable than standard motor encoders, despite the tight real-time constraints. This direct visual control method is experimentally verified with a 2D planar motion stage for micrometer positioning. To achieve accurate and fast motion, a balance is found between frame rate and image size. With a frame rate of 1600 fps and an image size of 160 × 100 pixels we show the effectiveness of the approach.
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关键词
computer vision,control system synthesis,ink jet printing,microrobots,motion control,path planning,position control,stability,visual servoing,2D planar motion stage,camera measurements,controlled positioning,direct coupling,direct motion planning,direct visual control method,direct visual measurements,frame rate,guarantee stability,image size,industrial inkjet printing,joint motion,local joint controller,micrometer positioning,real-time constraint,standard motor encoder,vision-based control,visual control design,visual servoing,visual update rate,Inkjet printing,microrobotics,product as encoder,trajectory generation,vision-based control
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