Adaptive Visual Servo Control of Robotic Harvesting Systems

Nonlinear Robust Visual Servo Control for Robotic Citrus Harvesting

In this paper, a cooperative visual servo controller is presented for autonomous citrus harvesting. A fixed camera provides a global view of a tree canopy for the camera-in-hand, attached to the end-effector, to servo to a target fruit. The paper focuses on the development of a robust, image-based, nonlinear visual servo controller to regulate the end-effector to the fruit location in the prese...

Adaptive Visual Servo Control

Adaptive servo visual robot control

Adaptive controllers for robot positioning and tracking using direct visual feedback with camera-in-hand configuration are proposed in this paper. The controllers are designed to compensate for full robot dynamics. Adaptation is introduced to reduce the design sensitivity due to robot and payload dynamics uncertainties. It is proved that the control system achieves the motion control objective ...

Performance Tests for Visual Servo Control Systems, with Application to Partitioned Approaches to Visual Servo Control

Visual servoing has been a viable method of robot manipulator control for more than a decade. Initial developments involved position-based visual servoing (PBVS), in which the control signal exists in Cartesian space. The younger method, image-based visual servoing (IBVS), has seen considerable development in recent years. PBVS and IBVS offer tradeoffs in performance, and neither can solve all ...

Adaptive Calibration and Control of 2 Dmonocular Visual Servo

For a majority of visual servo systems, accurate camera{robot calibration is essential for precision tasks, such as tracking time{varying end{eeector trajectories in the image plane. This paper presents details of control{theoretic approaches to calibration of monocular visual servo systems in the case of a planar robot with workspace perpendicular to the optical axis of the imaging system. An ...