Control of Active Stereo Vision System based on piezo-actuators
Piezo-Motor Control, Visual Servoing, Real-Time
For purposive robots in a complex and dynamic world, the most basic visual functions required are target detection, fixation and tracking. A fast and accurate active vision system with wide field of view is necessary for finding important targets around the robot. In our Institute we have developed an active stereo-gaze platform (see the picture) which is a compact and light weight.
The stereo-systems is composed of 2 Cameras Firewire 1493a, 3 DOF per eye driven by Linear Piezo-Motors with incremental encoders. The eyes are controlled by a standard PID position control for the Linear motors without real feedback of eye orientation.
Tasks and Objectives
In this thesis the student will implement a robust non-linear control for the piezo-actuators of each eye. The communication interface for the piezo-actuators is based on a FPGA. The control framework will be implemented on a Linux Workstation. The main objectives of this thesis are:
- Non-Linear Position Control for the piezo-actuators with friction compensation
- Piezo-actuators Modeling
- Design an Observer based on the robot model
- Visual Feedback calibration of the Observer
- FPGA programming skills
- strong background on C++ (preferable under Linux)
- Programming in Matlab