Embedded VisualControl for Robotics5HC99ir. Roel Pieters & dr. Dragan KostićSection Dynamics and ControlDept. Mechanical Engineering{r.s.pieters, d.kostic}@tue.nl

October 22nd, 2010

22

Outline

• Visual Servo Robot Control• Camera Configurations• Omnidirectional Vision• Experiences 5HC99 2009-10• Assignment 5HC99 2010-11

Visual Servo Robot Control

• Refers to a closed-loop control of the pose of a robot by utilizing the information extracted from vision sensors.

• Integrates different technologies:• image processing & computer vision,• electronics, DSP-based computer

hardware & software development,• multi-body kinematics, dynamics

and control theory.

4

• Semi-automated Foosball table

• One side controlled bya robotic system

• Vision:• finds ball• finds puppets• removes all the features

but the ball• @ 100 Hz

Fixed Camera

5

TechUnited – RoboCup

Moving Camera

6

• Object detection(ball, field, lines, goal, robots)

• Positioning (move to target,avoid an obstructor)

• Localization, world map(where am I?)

Omnidirectional Vision

7

Experiences 5HC99 2009-10

88

Blackfin + OpenCV + iArm

99

1. Homography-based Visual Servoing.2. Application in two case-studies:

• mobile robot navigation,• motion control of a robot arm.

3. Experimental demonstrations.

Assignment 5HC99 2010-11

Questions