Vision-Motion Codesign for Low-Level Trajectory Generation in Visual Servoing Systems

作者：Minghao Cheng, Di Li, Nan Zhou, Hao Tang, Ge Wang, Shipeng Li, Uzair Aslam Bhatti, Muhammad Khurram Khan · 发表于：IEEE Transactions on Instrumentation and Measurement · 年份：2023 · DOI：10.1109/tim.2023.3326234 · 被引用次数：244 · 研究领域：Advanced Vision and Imaging、Robotics and Sensor-Based Localization、CCD and CMOS Imaging Sensors

The separate design of vision algorithms and motion control algorithms in existing vision servo systems limits their application in high-speed and high-precision industrial scenarios. To address this problem, a vision-motion codesign method is proposed for integrating visual servo systems with motion controllers via real-time Ethernet connections. During the engineering design phase of our proposal, we developed a control kernel architecture to clarify the system design logic. Then, we proposed a runtime module for real-time trajectory generation to facilitate the unified deployment of different planning methods in the kernel. On this basis, we implemented a self-adaptive trajectory generation synthesis method capable of dynamically adjusting the motion resources for real-time interpolation. The experimental results demonstrate that in visual servo static tracking experiments with the SCARA robot, our proposed method has a faster response time and smaller impact than other mainstream trajectory generation methods in 1 ms real-time interpolation cycles.