Vision-Motion Codesign for Low-Level Trajectory Generation in Visual Servoing Systems
Minghao Cheng, Di Li, Nan Zhou, Hao Tang, Ge Wang, Shipeng Li, Uzair Aslam Bhatti, Muhammad Khurram Khan
Abstract
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.