Title :
Particle filter based tracking of free-swinging objects for visual servoing
Author :
Myhre, Torstein A. ; Transeth, Aksel A. ; Egeland, Olav
Author_Institution :
Dept. of Production & Quality Eng., NTNU, Trondheim, Norway
Abstract :
We present a visual servoing system for the synchronization of a robot with a dynamic rigid body using a particle filter-based state estimator. We experimentally demonstrate its application for robotic loading of parts onto oscillating hangers in an industrial paint line. The particle filter is implemented with a physical dynamical model of the hanger, using the Euler equations for a pendulum with three degrees of freedom. The visual servoing system is successfully demonstrated using two cameras to get a good 3D estimate of the hanger motion. The experimental results indicate a maximum tracking error of 0.1 degrees.
Keywords :
industrial manipulators; manipulator kinematics; paints; particle filtering (numerical methods); robot vision; shear modulus; spraying; state estimation; synchronisation; visual servoing; Euler equations; cameras; dynamic rigid body; free-swinging objects; hanger motion; industrial paint line; maximum tracking error; oscillating hangers; particle filter based tracking; particle filter-based state estimator; physical dynamical model; robot synchronization; robotic part loading; three-degree-of-freedom; visual servoing system; Cameras; Computational modeling; Loading; Mathematical model; Robot kinematics; Service robots;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090566
