Pub Date : 2014-12-18DOI: 10.1109/ICROM.2014.6990902
S. Khosravi, A. Arjmandi, H. Taghirad
This paper describes a novel control scheme for teleoperation with constant communication time delay and soft tissue in environment of slave side. This control scheme combine fidelity criteria with sliding impedance. Fidelity is a measure for evaluating telesurgical system when environment at slave side contains soft tissues. Sliding impedance is used to stabilize the teleoperating system with constant time delays and improve tracking performance in the presence of uncertainties in slave dynamics. The control system contains impedance and sliding impedance control in master and slave manipulators, respectively. Parameters of sliding impedance controller are obtained from fidelity optimization problem while parameters of master impedance controller are determined such that to guarantee stability of the entire teleopertaion system. Simulation results demonstrate suitable performance of position and force tracking of the telesurgical system.
{"title":"Sliding impedance control for improving transparency in telesurgery","authors":"S. Khosravi, A. Arjmandi, H. Taghirad","doi":"10.1109/ICROM.2014.6990902","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990902","url":null,"abstract":"This paper describes a novel control scheme for teleoperation with constant communication time delay and soft tissue in environment of slave side. This control scheme combine fidelity criteria with sliding impedance. Fidelity is a measure for evaluating telesurgical system when environment at slave side contains soft tissues. Sliding impedance is used to stabilize the teleoperating system with constant time delays and improve tracking performance in the presence of uncertainties in slave dynamics. The control system contains impedance and sliding impedance control in master and slave manipulators, respectively. Parameters of sliding impedance controller are obtained from fidelity optimization problem while parameters of master impedance controller are determined such that to guarantee stability of the entire teleopertaion system. Simulation results demonstrate suitable performance of position and force tracking of the telesurgical system.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"153 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115117048","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICROM.2014.6990958
S. J. Haddadi, P. Zarafshan
In this paper, the design and implementation procedure of an attitude controller on an autonomous Octorotor flying robot is studied. In an autonomous Octorotor flying robot, motors number is increased to eight motors which all of motors set as coaxial and they are installed two by two. In fact, two motors are installed on the four-rotorcraft axis and so, they propel coaxially. Also, the design procedure of the mechanical and electrical subsystems is done based on a Quadrotor flying robot. There are many issues in a controller design procedure of a flying robot while its motion receives from eight motors. In fact, the main subject of flying robot motion is done by Brushless DC motors. Also, IMU works as stabilizers in the motion control system. The stabilization control of the Octorotor is supplied by the designed PID controller. Finally, a trajectory is determined by a GPS in Mission Planner software for the outdoor environment. Implementation results of the designed attitude controller on the Autonomous Octorotor are shown.
{"title":"Attitude control of an autonomous octorotor","authors":"S. J. Haddadi, P. Zarafshan","doi":"10.1109/ICROM.2014.6990958","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990958","url":null,"abstract":"In this paper, the design and implementation procedure of an attitude controller on an autonomous Octorotor flying robot is studied. In an autonomous Octorotor flying robot, motors number is increased to eight motors which all of motors set as coaxial and they are installed two by two. In fact, two motors are installed on the four-rotorcraft axis and so, they propel coaxially. Also, the design procedure of the mechanical and electrical subsystems is done based on a Quadrotor flying robot. There are many issues in a controller design procedure of a flying robot while its motion receives from eight motors. In fact, the main subject of flying robot motion is done by Brushless DC motors. Also, IMU works as stabilizers in the motion control system. The stabilization control of the Octorotor is supplied by the designed PID controller. Finally, a trajectory is determined by a GPS in Mission Planner software for the outdoor environment. Implementation results of the designed attitude controller on the Autonomous Octorotor are shown.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114905370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICROM.2014.6990912
Z. Khodaee, M. Zareinejad, S. S. Ghidary
The electrohydraulic valves are commonly used in the engineering applications because they cause the hydraulic systems to take the advantage of the electrical sensors and the electrical control commands. For the precise performance of these valves, disturbances in the valve elements dynamics will disturb the control process of the system. The electrohydraulic servo valves are greatly affected by the acceleration especially the centrifugal acceleration in the aerospace applications. In a two stage flapper-nozzle electrohydraulic valve, the external acceleration changes the pressure of the fluid leaving the nozzles. Moreover it affects the flapper and the spool of the valve like an external force. Thus when the applied electrical current is zero, the acceleration diverts the spool of the valve from the equilibrium point. In this study the pilot pressures of the spool is modeled in the unsteady state condition. The effects of the acceleration on the elements of the two stage electrohydraulic valve are investigated. By simulation of the obtained model of the valve, the behavior of the system is analyzed.
{"title":"Modeling of a two-stage flapper-nozzle electrohydraulic servo valve exposed to acceleration","authors":"Z. Khodaee, M. Zareinejad, S. S. Ghidary","doi":"10.1109/ICROM.2014.6990912","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990912","url":null,"abstract":"The electrohydraulic valves are commonly used in the engineering applications because they cause the hydraulic systems to take the advantage of the electrical sensors and the electrical control commands. For the precise performance of these valves, disturbances in the valve elements dynamics will disturb the control process of the system. The electrohydraulic servo valves are greatly affected by the acceleration especially the centrifugal acceleration in the aerospace applications. In a two stage flapper-nozzle electrohydraulic valve, the external acceleration changes the pressure of the fluid leaving the nozzles. Moreover it affects the flapper and the spool of the valve like an external force. Thus when the applied electrical current is zero, the acceleration diverts the spool of the valve from the equilibrium point. In this study the pilot pressures of the spool is modeled in the unsteady state condition. The effects of the acceleration on the elements of the two stage electrohydraulic valve are investigated. By simulation of the obtained model of the valve, the behavior of the system is analyzed.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116454579","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICROM.2014.6990918
Soroush Maleki, M. N. Ahmadabadi
In robotics, particularly legged locomotion, there are situations where high gain feedback is not applicable. It is dangerous and may conduce to instability of the robot. In such situations, presence of a feed-forward controller helps the tracking problem while maintaining stability. However, these controllers usually require the system dynamics which may not be available. Furthermore, There are also situations where the frequency response of the actuator output torque is limited and may not be able to produce torques with high variations. In cases of unknown system dynamics, learning feed-forward scheme has been proposed which requires high number of basis functions according to system and trajectory. In this paper we propose a method that employs parallel spring in order to reduce higher frequency components of the actuator output torque. Moreover, the added spring will simplify the process of learning by reducing number of basis functions. Adaptive parallel spring is proposed for the case where different periodic motions are given to the system. Our simulations results on a two-link manipulator show that the adaptive spring will gradually simplify actuator output torque and improve feed-forward learning.
{"title":"Parallel spring simplifies actuator output torque and improves feed-forward learning","authors":"Soroush Maleki, M. N. Ahmadabadi","doi":"10.1109/ICROM.2014.6990918","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990918","url":null,"abstract":"In robotics, particularly legged locomotion, there are situations where high gain feedback is not applicable. It is dangerous and may conduce to instability of the robot. In such situations, presence of a feed-forward controller helps the tracking problem while maintaining stability. However, these controllers usually require the system dynamics which may not be available. Furthermore, There are also situations where the frequency response of the actuator output torque is limited and may not be able to produce torques with high variations. In cases of unknown system dynamics, learning feed-forward scheme has been proposed which requires high number of basis functions according to system and trajectory. In this paper we propose a method that employs parallel spring in order to reduce higher frequency components of the actuator output torque. Moreover, the added spring will simplify the process of learning by reducing number of basis functions. Adaptive parallel spring is proposed for the case where different periodic motions are given to the system. Our simulations results on a two-link manipulator show that the adaptive spring will gradually simplify actuator output torque and improve feed-forward learning.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122457295","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICROM.2014.6990892
Nasim Zafari, Mohammad Hasan Ghesemi
Designing of stable time optimal path for bipeds is one of the main issues in motion of bipeds. Motion parameters such as participation of motion phases and the distance between hip joint and ankle joint of support leg at the beginning and the end of the single support phase, have important effect in designing of time optimal path. In this paper the effect of these two motion parameters on time optimal path is discussed. At first, time optimal path is designed by particle swarm optimization algorithm considering definite participation of double support phase and actuators torque limitation. To ensure Stability, motion of a biped needs to follow specific pattern to comply with certain stability criterion such as zero moment point. Then the effect of double support phase on time optimal path and torque limitation on participation of the double support phase which satisfies time optimal path are studied. Finally effect of distance between hip joint and ankle joint of support leg at the beginning and the end of the single support phase on time optimal path is investigated.
{"title":"Effect of motion parameters on time optimal path of biped robot using PSO algorithm","authors":"Nasim Zafari, Mohammad Hasan Ghesemi","doi":"10.1109/ICROM.2014.6990892","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990892","url":null,"abstract":"Designing of stable time optimal path for bipeds is one of the main issues in motion of bipeds. Motion parameters such as participation of motion phases and the distance between hip joint and ankle joint of support leg at the beginning and the end of the single support phase, have important effect in designing of time optimal path. In this paper the effect of these two motion parameters on time optimal path is discussed. At first, time optimal path is designed by particle swarm optimization algorithm considering definite participation of double support phase and actuators torque limitation. To ensure Stability, motion of a biped needs to follow specific pattern to comply with certain stability criterion such as zero moment point. Then the effect of double support phase on time optimal path and torque limitation on participation of the double support phase which satisfies time optimal path are studied. Finally effect of distance between hip joint and ankle joint of support leg at the beginning and the end of the single support phase on time optimal path is investigated.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114548232","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICROM.2014.6990916
Milad Eyvazi Hesar, M. T. Masouleh, A. Kalhor, M. Menhaj, Navid Kashi
In this paper, an image based control architecture is developed f o r a 2-degree-of-freedom (DOF) spherical parallel robot. A camera, with digital output, is installed on the end-effector to follow the moving ball f o r a given color which is set by the user in the developed GUI. Some common image processing methods are applied on the obtained frames coming from eye-in-hand visual mechanism. These methods are used to filter out the background colors and noises from the image of the object in the image plane (screen). Smoothing the image of the object by using Median and Gaussian filter are used to precisely compute the centroid of the object in the screen. A PID and a sliding mode controller are introduced and designed to command actuators in such a way that the line of sight of the center of screen and the centroid of the image of the object are kept fixed. Implementation, testing and validation of the control algorithms are realized on the visual servoing architecture. Eventually, a comparison between the image based PID controller and the sliding mode controller is conducted and performances are fully discussed.
{"title":"Ball tracking with a 2-DOF spherical parallel robot based on visual servoing controllers","authors":"Milad Eyvazi Hesar, M. T. Masouleh, A. Kalhor, M. Menhaj, Navid Kashi","doi":"10.1109/ICROM.2014.6990916","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990916","url":null,"abstract":"In this paper, an image based control architecture is developed f o r a 2-degree-of-freedom (DOF) spherical parallel robot. A camera, with digital output, is installed on the end-effector to follow the moving ball f o r a given color which is set by the user in the developed GUI. Some common image processing methods are applied on the obtained frames coming from eye-in-hand visual mechanism. These methods are used to filter out the background colors and noises from the image of the object in the image plane (screen). Smoothing the image of the object by using Median and Gaussian filter are used to precisely compute the centroid of the object in the screen. A PID and a sliding mode controller are introduced and designed to command actuators in such a way that the line of sight of the center of screen and the centroid of the image of the object are kept fixed. Implementation, testing and validation of the control algorithms are realized on the visual servoing architecture. Eventually, a comparison between the image based PID controller and the sliding mode controller is conducted and performances are fully discussed.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"249 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128690325","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICROM.2014.6990955
M. Bamdad, A. Mardany
This paper presents the mechatronic design of a new tendon-driven manipulator. The new design is capable of many dexterous grasping and manipulation tasks. The principle design is to use the new branching tendons to control bones which are found in musculoskeletal systems. In branching tendons, multiple tendons are connected at a point. Reducing the number of actuators in the branching tendons makes a lightweight arm. The kinematic and the dynamic analysis of the under-actuated manipulator are carried out in a mechatronic simulation. A three link manipulator simulated on contact problem with the disturbance force. The tension in branched tendon is investigated to show the ability of back bone manipulators including the pretension.
{"title":"Mechatronics modeling of a branching tendon-driven robot","authors":"M. Bamdad, A. Mardany","doi":"10.1109/ICROM.2014.6990955","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990955","url":null,"abstract":"This paper presents the mechatronic design of a new tendon-driven manipulator. The new design is capable of many dexterous grasping and manipulation tasks. The principle design is to use the new branching tendons to control bones which are found in musculoskeletal systems. In branching tendons, multiple tendons are connected at a point. Reducing the number of actuators in the branching tendons makes a lightweight arm. The kinematic and the dynamic analysis of the under-actuated manipulator are carried out in a mechatronic simulation. A three link manipulator simulated on contact problem with the disturbance force. The tension in branched tendon is investigated to show the ability of back bone manipulators including the pretension.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123967936","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICROM.2014.6990891
Zahra Zeinaly, A. Ramezani, S. Ozgoli
In time-delayed systems in which the time delay is unknown and unpredictable, to guarantee the stability of the system, a compensation method should be used. In this paper, this method is based on the concept of network disturbance and communication disturbance observer (CDOB), which does not need the time delay model. Therefore, it can be implemented in teleoperation systems that contain communication channel with time-varying delay. However, it has been observed that the system model error seriously affects the steady-state characteristics and causes steady-state error. Also, applying disturbance to the system makes it unstable. Therefore, in this paper, by using slave's delayed torque instead of its delayed position, the structure of the conventional CDOB is changed and another structure for CDOB is proposed to achieve robustness against disturbance and model uncertainty. Also, steady-state characteristics and disturbance attenuation characteristic of the structure are studied. Simulation results are presented to demonstrate the effectiveness of the proposed structure.
{"title":"Robust stability for bilateral teleoperation systems under time-varying delay by communication disturbance observer","authors":"Zahra Zeinaly, A. Ramezani, S. Ozgoli","doi":"10.1109/ICROM.2014.6990891","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990891","url":null,"abstract":"In time-delayed systems in which the time delay is unknown and unpredictable, to guarantee the stability of the system, a compensation method should be used. In this paper, this method is based on the concept of network disturbance and communication disturbance observer (CDOB), which does not need the time delay model. Therefore, it can be implemented in teleoperation systems that contain communication channel with time-varying delay. However, it has been observed that the system model error seriously affects the steady-state characteristics and causes steady-state error. Also, applying disturbance to the system makes it unstable. Therefore, in this paper, by using slave's delayed torque instead of its delayed position, the structure of the conventional CDOB is changed and another structure for CDOB is proposed to achieve robustness against disturbance and model uncertainty. Also, steady-state characteristics and disturbance attenuation characteristic of the structure are studied. Simulation results are presented to demonstrate the effectiveness of the proposed structure.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124111228","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICROM.2014.6990962
S. M. Mehdi Dehghan, H. Moradi
This paper presents a new approach to estimate the location and height of the obstacle located between two unmanned aerial vehicles (UAVs) using Received Signal Strength Indication (RSSI) observations. The goal of developing this approach is to improve the localization of a radio frequency (RF) source by estimating the effect of obstacles on the signal attenuation. The effect of an obstacle on signal strength attenuation is the most important source of error in distance estimation based on general or empirical path loss model. Therefore, mapping the primary obstacle, which has the greatest effect on the signal attenuation, can improve the distance estimation. The main idea of the proposed approach is in the distinction between the effects of obstacle(s) on the signal attenuation, i.e. the diffraction loss, and the path loss. The proposed approach uses a model of diffraction loss to estimate the height and position of the primary knife-edge obstacle. The observations include the diffraction losses which are collected on the UAV's paths. Due to the Gaussian distribution of the diffraction loss observations and nonlinearity of the observation function, extended Kalman filter (EKF), unscented Kalman filter (UKF), and particle filter are implemented and compared with each other. The results of the simulations show that the proposed approach is able to map an obstacle between two RF sources. Furthermore, the detected and estimated obstacle can be used for better RF source localization.
{"title":"Aerial obstacle estimation using RSSI observations based on OHLOSS diffraction model","authors":"S. M. Mehdi Dehghan, H. Moradi","doi":"10.1109/ICROM.2014.6990962","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990962","url":null,"abstract":"This paper presents a new approach to estimate the location and height of the obstacle located between two unmanned aerial vehicles (UAVs) using Received Signal Strength Indication (RSSI) observations. The goal of developing this approach is to improve the localization of a radio frequency (RF) source by estimating the effect of obstacles on the signal attenuation. The effect of an obstacle on signal strength attenuation is the most important source of error in distance estimation based on general or empirical path loss model. Therefore, mapping the primary obstacle, which has the greatest effect on the signal attenuation, can improve the distance estimation. The main idea of the proposed approach is in the distinction between the effects of obstacle(s) on the signal attenuation, i.e. the diffraction loss, and the path loss. The proposed approach uses a model of diffraction loss to estimate the height and position of the primary knife-edge obstacle. The observations include the diffraction losses which are collected on the UAV's paths. Due to the Gaussian distribution of the diffraction loss observations and nonlinearity of the observation function, extended Kalman filter (EKF), unscented Kalman filter (UKF), and particle filter are implemented and compared with each other. The results of the simulations show that the proposed approach is able to map an obstacle between two RF sources. Furthermore, the detected and estimated obstacle can be used for better RF source localization.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114319912","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-18DOI: 10.1109/ICROM.2014.6990935
Farzane Nadi, V. Derhami, M. Rezaeian
Visual servoing system is a system to control a robot by visual feedback. This paper presents a visual servoing control that drives the end-effector of a real robot manipulator from any arbitrary start position to the desired positions. The control law is obtained using inverse Jacobian matrix. Since there is not access to the model of the robot, artificial neural networks are used to estimate of inverse Jacobian matrix. There are many challenges in practical implementation such as: how to calculate Jacobian matrix, determining the intelligent structure for estimation of Jacobian matrix, recognition coordinate of each joint with image processing and changes in illumination. We proposed appropriate solutions to solve the mentioned challenges. The experimental results in the real robot show that the control system can move the end-effector to target positions from any arbitrary start position with good accuracy.
{"title":"Visual servoing control of robot manipulator with Jacobian matrix estimation","authors":"Farzane Nadi, V. Derhami, M. Rezaeian","doi":"10.1109/ICROM.2014.6990935","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990935","url":null,"abstract":"Visual servoing system is a system to control a robot by visual feedback. This paper presents a visual servoing control that drives the end-effector of a real robot manipulator from any arbitrary start position to the desired positions. The control law is obtained using inverse Jacobian matrix. Since there is not access to the model of the robot, artificial neural networks are used to estimate of inverse Jacobian matrix. There are many challenges in practical implementation such as: how to calculate Jacobian matrix, determining the intelligent structure for estimation of Jacobian matrix, recognition coordinate of each joint with image processing and changes in illumination. We proposed appropriate solutions to solve the mentioned challenges. The experimental results in the real robot show that the control system can move the end-effector to target positions from any arbitrary start position with good accuracy.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116512771","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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