Affordable Real-Time Vision Guidance for Robot Motion Control

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1 Affordable Real-Time Vision Guidance for Robot Motion Control Cong Wang Assistant Professor ECE and MIE Departments New Jersey Institute of Technology Mobile: (510) Office: (973)

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4 Advanced Control for Robotic Manufacturing - Torque level interfaces to industrial robots - Affordable real-time vision - Sensor-less kinesthetic teaching - Precision contouring: error reduction - Fast spot welding: vibration reduction and speeding up - Semiconductor fabrication: wide-band active vibration cancellation - Fast modeling and calibration for dynamics compensation - Optimal controller tuning - Multi-robot scheduling

5 Real-time vision for motion control Ideal sensor bandwidth for real-time motion control Not look-then-move khz level Common industrial machine vision products <100 fps x100ms level latency for image processing Conventional high-speed cameras For impact/crash tests and so on Unaffordable to industrial robotic applications Offline image processing

6 Affordable real-time vision guidance for robot motion control Nonstop picking from hanging conveyors Real-time vision guidance under limited sensing capacity 30Hz vs. 1kHz The mobile base is flexible (as opposed to anchored base)

7 Affordable real-time vision: Alternative Vision Real-Time Control with Limited Feedback An infrared marker based motion capture system > Based on Position Sensitive Detector (PSD) > x10khz sampling rate > Sub-mm accuracy

8 Affordable real-time vision: Alternative Vision Real-Time Control with Limited Feedback An infrared marker based motion capture system

9 Affordable real-time vision: Alternative Vision Real-Time Control with Limited Feedback An infrared marker based motion capture system compared under same measurement range (same field-of-view) PRECISION low: palletizing level mid: handling/tending level high: machining level real time precision motion control PSD vision guided welding Intelligent jobs: - intelligent picking - quality inspection - sorting TARGET FLEXIBILITY low: must use marker (line, dots, shaded gap, beacon) mid: marker assisted pattern recognition high: can recognize complex pattern Vision SPEED low: static / look-and-move / constant speed mid: relative low sampling rate high: 10 times of controller frequency

10 Affordable real-time vision: statistical learning prediction Real-Time Control with Limited Feedback Adaptive Statistical Prediction for Feedback compensation Disturbance estimation predicted observation - actual observation (slow sampled and delayed) (unknown) driving factor last (unknown) dynamic model sensor model predicted correction action corrected

11 Affordable real-time vision: statistical learning prediction Real-Time Control with Limited Feedback Adaptive Statistical Prediction for Feedback compensation Disturbance estimation Deep burying predicted observation - actual observation (slow sampled and delayed) (unknown) driving factor last (unknown) dynamic model sensor model predicted correction action corrected

12 A A Affordable real-time vision: statistical learning prediction Real-Time Control with Limited Feedback Adaptive Statistical Prediction for Feedback compensation Disturbance estimation f f (unknown) driving factor statistical learning stochastic model last (unknown) dynamic model predicted observation sensor model predicted - actual observation (slow sampled and delayed) correction action corrected

13 Affordable real-time vision: statistical learning prediction Real-Time Control with Limited Feedback Adaptive Statistical Prediction for Feedback compensation Disturbance estimation Signal recovery Derivative recovery larger error Raw Linear extrapolation Proposed Raw Differentiated linear extrapolation Proposed slower sensor

14 Real-time vision guided control Servo control Real-time motion planning Prediction

15 Real-time vision guided motion control Affordable regular camera 30 frames per second 33ms image processing without the learning method with the learning method

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