Adaptive DVFB for Uncal. Hand-Eye Coord. and Motor Control
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Adaptive Differential Visual Feedback
for uncalibrated hand-eye coordination and motor control
Martin Jägersand, Randal Nelson
Department of Computer Science, University of Rochester, Rochester, NY 14627
{jag,nelson}@cs.rochester.edu
Abstract:
We propose and implement a novel method for visual space
trajectory planning, and adaptive high Degree Of Freedom (DOF) visual
feedback control.
The method requires no prior information either about the
kinematics of the manipulator, or the placement or calibration
of the cameras, and imposes no limitations on the number of
degrees of freedom controlled or the number of kind of visual
features utilized.
The approach provides not only a means of low-level servoing
but a means to integrate it with
higher level visual space trajectory and task planning.
We are thus able to specify and perform complex tasks composed of
several primitive behaviors, using both visual servoing and open loop
control, where the number of sensed and controlled signals varies
during the task.
We report experimental results demonstrating a factor of 5 improvement
in the repeatability of manipulations using a PUMA arm when comparing
visual closed-loop to traditional joint level servoing.
We also present experiment statistics showing the advantages
of adaptive over non-adaptive control systems, and of using redundant
visual information when performing manipulation tasks.
Finally, we demonstrate usefulness of the approach by using it
to specify and execute complex tasks involving real-world robot
manipulation of rigid and
non-rigid objects in up to 12 degrees of freedom. The manipulation is
performed in the context of a semi-autonomous robot manipulation
system.
jag@cs.rochester.edu