Visual servoing technology is well developed and applied in many automated manufacturing tasks, especially in tools’ pose alignment. To access a full global view of tools, most applications adopt an eye-to-hand configuration or an eye-to-hand/e...
In robot navigation and manipulation, accurately determining the camera’s pose relative to the environment is crucial for effective task execution. In this paper, we systematically prove that this problem corresponds to the Perspective-3-Point...
We propose a novel geometry-constrained learning-based method for camera-in-hand visual servoing systems that eliminates the need for camera intrinsic parameters, depth information, and the robot’s kinematic model. Our method uses a cerebellar...
This paper presents an uncalibrated visual servoing scheme for underwater vehicle manipulator systems (UVMSs) with an eye-in-hand camera under uncertainties. These uncertainties contain vision sensor parameters, UVMS kinematics and feature position i...
Automated depalletizing systems aim to offer continuous and efficient operation in warehouse logistics, reducing cycle times and contributing to worker safety. However, most commercially available depalletizing solutions are designed primarily for hi...
With the advancement of robotic technologies, more and more tasks in industrial and commercial applications rely on the use of robots to assist or even replace humans. To fulfill the needs of grasping and handling different objects, the development o...
This work proposes a hybrid deep learning-based framework for visual feedback control in an eye-in-hand robotic system. The framework uses an early fusion approach in which real and synthetic images define the training data. The first layer of a ResN...
Robot control based on visual information perception has been a hot topic in the field of industrial robots, and the use of visual servoing technology to guide robots for high-precision spatial localization of machined workpieces has a wide range of...
The visual servoing of manipulators is challenged by two main problems: the singularity of the inverse Jacobian and the physical constraints of a manipulator. In order to overcome the singularity issue, this paper presents a novel approach for image-...
In this paper, an enhanced switch image-based visual servoing controller for a six-degree-of-freedom (DOF) robot with a monocular eye-in-hand camera configuration is presented. The switch control algorithm separates the rotating and translational cam...
In this paper, a global-state-space visual servoing scheme is proposed for uncalibrated model-independent robotic manipulation. The scheme is based on robust Kalman filtering (KF), in conjunction with Elman neural network (ENN) learning techniques. T...
Robotic timber joinery demands integrated, adaptive methods to compensate for the inherent dimensional variability of wood. We introduce a seamless robotic workflow to enhance the measurement accuracy of the Workpiece Coordinate System (WCS). The app...
Moulds for aeronautical applications must fulfil highly demanding requirements, including the geometrical tolerances before and after curing cycles at high temperatures and pressures. The growing availability of thermoplastic materials printed by mat...
Human-to-robot (H2R) handovers are critical in human–robot interaction but are challenged by complex environments that impact robot perception. Traditional RGB-based perception methods exhibit severe performance degradation under harsh lighting...
To improve the accuracy and robustness of hand–eye calibration, a hand–eye calibration method based on Schur matric decomposition is proposed in this paper. The accuracy of these methods strongly depends on the quality of observation data...
This paper develops a hybrid algorithm of adaptive network-based fuzzy inference system (ANFIS) and regions with convolutional neural network (R-CNN) for stereo vision-based object recognition and manipulation. The stereo camera at an eye-to-hand con...
The reliability and robustness of image-based visual servoing systems is still unsolved by the moment. In order to address this issue, a redundant and cooperative 2D visual servoing system based on the information provided by two cameras in eye-in-ha...
An accurate and reliable estimation of the transformation matrix between an optical sensor and a robot is a key aspect of the hand–eye system calibration process in vision-guided robotic applications. This paper presents a novel approach to mar...
Helicopters are known to exhibit higher vibratory levels compared to fixed-wing aircraft. The consequences of vibrations depend on the affected helicopter component or subject. Specifically, pilots are in contact with several parts of the helicopter;...
We address hand–eye calibration for a line laser sensor rigidly mounted on a three-axis drilling machine. The sensor maintains a fixed orientation while the machine provides translation along the X, Y, and Z axes. We propose a cone-assisted han...
Monocular visual measurement and vision-guided robotics technology find extensive application in modern automated manufacturing, particularly in aerospace assembly. However, during assembly pose measurement and guidance, the propagation and accumulat...
A vision-based robot self-calibration method is proposed in this paper to evaluate the kinematic parameter errors of a robot using a visual sensor mounted on its end-effector. This approach could be performed in the industrial field without external,...
This study provides a chronological analysis of how Extended Reality (XR) interaction techniques have evolved from early controller-centered interfaces to natural hand- and gaze-based input and, more recently, to multimodal input, with a particular f...
To overcome the inherent limitations of conventional offline programming in adapting to dimensional deviations and assembly-induced errors during robotic welding of ship structures, this paper proposes a point-cloud-enhanced visual scanning paradigm...
Visual servoing has been widely employed in robotic control to increase the flexibility and precision of a robotic arm. When the end-effector of the robotic arm needs to be moved to a spatial point without a coordinate, the conventional visual servoi...
This paper presents the implementation of a vision system for a collaborative robot equipped with a web camera and a Python-based control algorithm for automated object-sorting tasks. The vision system aims to detect, classify, and manipulate objects...
Geogrids are a class of geosynthetic materials made of polymer materials with widespread transportation, infrastructure, and structural applications. Geogrids are now routinely used in soil stabilization applications ranging from reinforcing walls to...
We present a systematic evaluation of the positional and rotational tracking accuracy of the Meta Quest 3 mixed-reality headset using a TECHMAN TM5-900 collaborative robot (±0.05 mm repeatability) as a highly repeatable robot-driven reference....
Background/Objectives: Despite the high prevalence of graphomotor difficulties in young children, the therapeutic efficacy of dot-to-dot tracing practice remains underexplored. This study evaluated the impact of constant versus varied practice protoc...
For high-speed robotic cut-and-catch harvesting, efficient trellis grape recognition and picking point positioning are crucial factors. In this study, a new method for the rapid positioning of picking points based on synchronous inference for multi-g...
This work presents and experimentally characterizes a real-time, explainable Eye-to-Hand visual-feedback architecture for trajectory control of a planar 2RRR parallel manipulator. A fine-tuned YOLOv8n detector locates an end-effector marker, calibrat...