Adaptive Differential Visual Feedback for Uncalibrated Hand-Eye Coordination andMotor Control

摘要

We propose and implement a novel method for visual space trajectory planning, andadaptive high Degree Of Freedom (DOF) visual feedback control. he 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.