Authors

Robert Mahony, Stefano Stramigioli

Abstract

This paper introduces a port-Hamiltonian framework for the design of image-based visual servo control for dynamic mechanical systems. The approach taken introduces the concept of an image effort and provides an interpretation of energy exchange between the dynamics of the physical system and virtual potentials or ‘image Hamiltonians’ posed in the image space. The port-Hamiltonian framework leads to an elegant algorithm to estimate unknown image depth on-line even when the translational velocity of the camera is not measured.

Citation

  • Journal: The International Journal of Robotics Research
  • Year: 2012
  • Volume: 31
  • Issue: 11
  • Pages: 1303–1319
  • Publisher: SAGE Publications
  • DOI: 10.1177/0278364912455074

BibTeX

@article{Mahony_2012,
  title={{A port-Hamiltonian approach to image-based visual servo control for dynamic systems}},
  volume={31},
  ISSN={1741-3176},
  DOI={10.1177/0278364912455074},
  number={11},
  journal={The International Journal of Robotics Research},
  publisher={SAGE Publications},
  author={Mahony, Robert and Stramigioli, Stefano},
  year={2012},
  pages={1303--1319}
}

Download the bib file

References

  • Berghuis, H. & Nijmeijer, H. Global regulation of robots using only position measurements. Systems & Control Letters vol. 21 289–293 (1993) – 10.1016/0167-6911(93)90071-d
  • Bishop, B. E. & Spong, M. W. Adaptive calibration and control of 2D monocular visual servo systems. Control Engineering Practice vol. 7 423–430 (1999) – 10.1016/s0967-0661(98)00160-9
  • Chaumette, F. Potential problems of stability and convergence in image-based and position-based visual servoing. Lecture Notes in Control and Information Sciences 66–78 (1998) doi:10.1007/bfb0109663 – 10.1007/bfb0109663
  • Chaumette, F. & Hutchinson, S. Visual servo control. I. Basic approaches. IEEE Robotics & Automation Magazine vol. 13 82–90 (2006) – 10.1109/mra.2006.250573
  • Chaumette, F. & Hutchinson, S. Visual servo control. II. Advanced approaches [Tutorial]. IEEE Robotics & Automation Magazine vol. 14 109–118 (2007) – 10.1109/mra.2007.339609
  • Cowan, N. J., Weingarten, J. D. & Koditschek, D. E. Visual servoing via navigation functions. IEEE Transactions on Robotics and Automation vol. 18 521–533 (2002) – 10.1109/tra.2002.802202
  • De Luca, A., Oriolo, G. & Robuffo Giordano, P. Feature Depth Observation for Image-based Visual Servoing: Theory and Experiments. The International Journal of Robotics Research vol. 27 1093–1116 (2008) – 10.1177/0278364908096706
  • Duindam, V., Macchelli, A., Stramigioli, S. & Bruyninckx, H. Modeling and Control of Complex Physical Systems. (Springer Berlin Heidelberg, 2009). doi:10.1007/978-3-642-03196-0 – 10.1007/978-3-642-03196-0
  • Espiau, B., Chaumette, F. & Rives, P. A new approach to visual servoing in robotics. IEEE Transactions on Robotics and Automation vol. 8 313–326 (1992) – 10.1109/70.143350
  • Fujita, M., Kawai, H. & Spong, M. W. Passivity-Based Dynamic Visual Feedback Control for Three-Dimensional Target Tracking: Stability and $L_{2}$-Gain Performance Analysis. IEEE Transactions on Control Systems Technology vol. 15 40–52 (2007) – 10.1109/tcst.2006.883236
  • Hamel, T. & Mahony, R. Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach. IEEE Transactions on Robotics and Automation vol. 18 187–198 (2002) – 10.1109/tra.2002.999647
  • Hutchinson, S., Hager, G. D. & Corke, P. I. A tutorial on visual servo control. IEEE Transactions on Robotics and Automation vol. 12 651–670 (1996) – 10.1109/70.538972
  • Kawai H, Proceedings IEEE Computer Aided Control System Design IEEE International Conference on Control Applications and IEEE International Symposium on Intelligent Control (2006)
  • Kelly, R. Robust asymptotically stable visual servoing of planar robots. IEEE Transactions on Robotics and Automation vol. 12 759–766 (1996) – 10.1109/70.538980
  • Kelly, R., Carelli, R., Nasisi, O., Kuchen, B. & Reyes, F. Stable visual servoing of camera-in-hand robotic systems. IEEE/ASME Transactions on Mechatronics vol. 5 39–48 (2000) – 10.1109/3516.828588
  • Kelly, R., Moreno, J. & Campa, R. Visual servoing of planar robots via velocity fields. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) 4028-4033 Vol.4 (2004) doi:10.1109/cdc.2004.1429382 – 10.1109/cdc.2004.1429382
  • Khatib, O. The Operational Space Framework. JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing vol. 36 277–287 (1993) – 10.1299/jsmec1993.36.277
  • Yun-Hui Liu, Hesheng Wang, Chengyou Wang & Kin Kwan Lam. Uncalibrated visual servoing of robots using a depth-independent interaction matrix. IEEE Transactions on Robotics vol. 22 804–817 (2006) – 10.1109/tro.2006.878788
  • Lucas BD, Proceedings of the Imaging Understanding Workshop (1981)
  • Malis, E., Chaumette, F. & Boudet, S. 2 1/2 D visual servoing. IEEE Transactions on Robotics and Automation vol. 15 238–250 (1999) – 10.1109/70.760345
  • Maruyama A, Advanced Robotics (1998)
  • Maruyama, A., Kawai, H. & Fujita, M. Stability and tracking performance of dynamic visual feedback control for nonlinear mechanical systems. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) vol. 5 4415–4420 – 10.1109/cdc.2001.980897
  • Maschke, B. M., Van Der Schaft, A. J. & Breedveld, P. C. An intrinsic hamiltonian formulation of network dynamics: non-standard poisson structures and gyrators. Journal of the Franklin Institute vol. 329 923–966 (1992) – 10.1016/s0016-0032(92)90049-m
  • Murao, T., Kawai, H. & Fujita, M. Visual motion observer-based stabilizing receding horizon control via image space navigation function. 2010 IEEE International Conference on Control Applications 1648–1653 (2010) doi:10.1109/cca.2010.5611200 – 10.1109/cca.2010.5611200
  • Papanikolopoulos N, Proceedings of the American Control Conference (1991)
  • Piepmeier JA, A Dynamic Quasi-Newton Method for Model Independent Visual Servoing (1999)
  • Pissard-Gibollet, R. & Rives, P. Applying visual servoing techniques to control a mobile hand-eye system. Proceedings of 1995 IEEE International Conference on Robotics and Automation vol. 1 166–171 – 10.1109/robot.1995.525280
  • Samson C, Robot Control: The Task Function Approach (1991)
  • Sciavicco, L. & Siciliano, B. Modelling and Control of Robot Manipulators. Advanced Textbooks in Control and Signal Processing (Springer London, 2000). doi:10.1007/978-1-4471-0449-0 – 10.1007/978-1-4471-0449-0
  • Srinivasan, M. V. An image-interpolation technique for the computation of optic flow and egomotion. Biological Cybernetics vol. 71 401–415 (1994) – 10.1007/bf00198917
  • Hesheng Wang, Yun-Hui Liu & Dongxiang Zhou. Adaptive Visual Servoing Using Point and Line Features With an Uncalibrated Eye-in-Hand Camera. IEEE Transactions on Robotics vol. 24 843–857 (2008) – 10.1109/tro.2008.2001356
  • Zergeroglu, E., Dawson, D. M., de Querioz, M. S. & Behal, A. Vision-based nonlinear tracking controllers with uncertain robot-camera parameters. IEEE/ASME Transactions on Mechatronics vol. 6 322–337 (2001) – 10.1109/3516.951370