de Jjth Jeroen Best

An active ball handling mechanism for RoboCup

This paper describes a new active ball handling method for the RoboCup mid-size league as used by team Tech United at Eindhoven University of Technology. A theoretical model is derived followed by the control design including a feedback controller and a feedforward controller. The proposed control design is validated with the Tech United soccer robots. The results of several tests show the effectiveness of the new ball handling design.

Direct dynamic visual servoing at 1 kHz by using the product as 1.5D encoder

This paper focusses on direct dynamic visual servoing at high sampling rates for machines used for the production of products that inherently consist of equal features placed in a repetitive pattern. A mechanical system is controlled on the basis of vision only. In contrast to kinematic visual servoing approaches, we do not use a hierarchical control structure. More specifically, the motor inputs are driven directly by the vision controller without the intervention of low level joint controllers. The product in view consists of a repetitive pattern, which is used as a 1.5D encoder purely on the basis of vision. Using fast image processing and a prediction based on a steady-state Kalman filter a 1 kHz direct visual servoing setup is created capable of using the repetitive pattern as a 1.5D encoder with an accuracy of 2 µm. The design is validated on an experimental setup.