Implement contour following task of objects with unknown geometric models by using combination of two visual servoing techniques Online publication date: Wed, 07-Sep-2022
by Le Duc Hanh; Vo Duy Cong
International Journal of Computational Vision and Robotics (IJCVR), Vol. 12, No. 5, 2022
Abstract: In this paper, two visual servoing techniques are combined to implement the contour following task of objects with unknown geometric models and the contour plane can be anywhere in the workspace. The scaled Euclidean position and orientation of the contour plane are defined based on decomposing the homography matrix. The shortest path visual servoing (SPVS) technique is applied to control the robot end-effector or the camera to the position parallel to the contour plane. Then, the image-based visual servoing (IBVS) technique is applied to conduct the contour following task. The desired feature command points are extracted from the contour using image processing algorithms. Based on the feature command point, four virtual feature points are generated to form the interaction matrix used in IBVS. The effectiveness of the proposed approach is verified based on the simulation result by using a camera attached at the end-effector of the six-DOF PUMA 560 manipulator.
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