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An image-based visual servo system to operate a flexible wire

Changle Li (Harbin Institute of Technology, Harbin, China)
Chong Yao (Harbin Institute of Technology, Harbin, China)
Shuo Xu (Harbin Institute of Technology, Harbin, China)
Leifeng Zhang (Harbin Institute of Technology, Harbin, China)
Yilun Fan (Harbin Institute of Technology, Harbin, China)
Jie Zhao (Robotics Institute, Harbin Institute of Technology, Harbin, China)

Robotic Intelligence and Automation

ISSN: 2754-6969

Article publication date: 6 February 2023

Issue publication date: 28 March 2023

158

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.

Keywords

Acknowledgements

This research was funded by Natural Science Foundation of China (Grant No. U1713202), NSFC-Shenzhen Robotics Research Center Project (Grant No. U2013207) and Special funding support for the construction of innovative provinces in Hunan Province (2019GK1010).

Citation

Li, C., Yao, C., Xu, S., Zhang, L., Fan, Y. and Zhao, J. (2023), "An image-based visual servo system to operate a flexible wire", Robotic Intelligence and Automation, Vol. 43 No. 1, pp. 3-11. https://doi.org/10.1108/RIA-04-2022-0083

Publisher

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Emerald Publishing Limited

Copyright © 2022, Emerald Publishing Limited

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