Autonomous Field-of-View Adjustment Using Adaptive Kinematic Constrained Control with Robot-Held Microscopic Camera Feedback
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2023
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| Acceso en línea: | |
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| _version_ | 1866910925097795584 |
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| author | Lin, Hung-Ching Marinho, Murilo Marques Harada, Kanako |
| author_facet | Lin, Hung-Ching Marinho, Murilo Marques Harada, Kanako |
| contents | Robotic systems for manipulation in millimeter scale often use a camera with high magnification for visual feedback of the target region. However, the limited field-of-view (FoV) of the microscopic camera necessitates camera motion to capture a broader workspace environment. In this work, we propose an autonomous robotic control method to constrain a robot-held camera within a designated FoV. Furthermore, we model the camera extrinsics as part of the kinematic model and use camera measurements coupled with a U-Net based tool tracking to adapt the complete robotic model during task execution. As a proof-of-concept demonstration, the proposed framework was evaluated in a bi-manual setup, where the microscopic camera was controlled to view a tool moving in a pre-defined trajectory. The proposed method allowed the camera to stay 94.1% of the time within the real FoV, compared to 54.4% without the proposed adaptive control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2309_10287 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Autonomous Field-of-View Adjustment Using Adaptive Kinematic Constrained Control with Robot-Held Microscopic Camera Feedback Lin, Hung-Ching Marinho, Murilo Marques Harada, Kanako Robotics Robotic systems for manipulation in millimeter scale often use a camera with high magnification for visual feedback of the target region. However, the limited field-of-view (FoV) of the microscopic camera necessitates camera motion to capture a broader workspace environment. In this work, we propose an autonomous robotic control method to constrain a robot-held camera within a designated FoV. Furthermore, we model the camera extrinsics as part of the kinematic model and use camera measurements coupled with a U-Net based tool tracking to adapt the complete robotic model during task execution. As a proof-of-concept demonstration, the proposed framework was evaluated in a bi-manual setup, where the microscopic camera was controlled to view a tool moving in a pre-defined trajectory. The proposed method allowed the camera to stay 94.1% of the time within the real FoV, compared to 54.4% without the proposed adaptive control. |
| title | Autonomous Field-of-View Adjustment Using Adaptive Kinematic Constrained Control with Robot-Held Microscopic Camera Feedback |
| topic | Robotics |
| url | https://arxiv.org/abs/2309.10287 |