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

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…

• HP
  Hainan Provincial Postdoctoral Science Foundation

  Award: 123QN182
• NN
  National Natural Science Foundation of China

  Awards: 62203240, 92267108
• NK
  National Key Research and Development Program of China

  Award: 2020YFB1711300