An image-based visual servo system to operate a flexible wire. Issue 1 (6th February 2023)

• Record Type: Journal Article
• Authors: Li, Changle; Yao, Chong; Xu, Shuo; Zhang, Leifeng; Fan, Yilun; Zhao, Jie
• Is Part Of: Robotic intelligence and automation. Volume 43:Issue 1(2023)
• Page Start: 3
• Page End: 11
• Publication Date: 2023-02-06
• Subjects: Flexible wires -- Image-based visual servo -- Coherent point drift -- Weighted least squares optimization with sliding windows
• DOI: 10.1108/RIA-04-2022-0083
• Languages: English
• ISSNs: 2754-6977

Abstract

Abstract : Purpose: With the rapid development of the 3C industry, the problem of automated operation of 3C wire is becoming increasingly prominent. However, the 3C wire has high flexibility, and its deformation is difficult to model and control. How to realize the automation operation of flexible wire in 3C products is still an important issue that restricts the development of the 3C industry. Therefore, this paper designs a system that aims to improve the automation level of the 3C industry. Design/methodology/approach: This paper designed a visual servo control system. Based on the perception of the flexible wire, a Jacobi matrix is used to relate the deformation of the wire to the action of the robot end; by building and optimizing the Jacobi matrix, the robot can control the flexible wire. Findings: By using the visual servo control system, the shape and deformation of the flexible wire are perceived, and based on this, the robot can control the deformation of the flexible wire well. The experimental environment was built to evaluate the accuracy and stability of the system for controlling the deformation of the flexible wire. Originality/value: An image-based visual servo system is proposed to operate the flexible wire, including the vision system, visual controller and joint velocity controller. It is a scheme suitable for flexible wire operation, which has helped to automate flexible wire-related industries. Its core is to correlate the motion of the robot end with the deformation of the flexible wire through the Jacobian matrix.