Advertisement

Direct visual servoing framework based on optimal control for redundant joint structures

  • Jorge PomaresEmail author
  • Carlos Alberto Jara
  • Javier Pérez
  • Fernando Torres
Article

Abstract

This paper presents a new framework based on optimal control to define new dynamic visual controllers to carry out the guidance of any serial link structure. The proposed general method employs optimal control to obtain the desired behaviour in the joint space based on an indicated cost function which determines how the control effort is distributed over the joints. The proposed approach allows the development of new direct visual controllers for any mechanical joint system with redundancy. Finally, authors show experimental results and verifications on a real robotic system for some derived controllers obtained from the control framework.

Keywords

Visual servoing Control framework Chaos control Robotics 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Andolfatto, L., Lavernhe, S., and Mayer, J. R. R., “Evaluation of Servo, Geometric and Dynamic Error Sources on Five-Axis High-Speed Machine Tool,” International Journal of Machine Tools and Manufacture, Vol. 51, No. 10, pp. 787–796, 2011.CrossRefGoogle Scholar
  2. 2.
    Song, W., Wang, G., Xiao, J., Wang, G., and Hong, Y., “Research on Multi-Robot Open Architecture of an Intelligent CNC System based on Parameter-Driven Technology,” Robotics and Computer-Integrated Manufacturing, Vol. 28, No. 3, pp. 326–333, 2012.CrossRefGoogle Scholar
  3. 3.
    Chaumette, F. and Hutchinson, S., “Visual Servo Control, Part I. Basic Approaches,” IEEE Robotics & Automation Magazine, Vol. 13, No. 4, pp. 82–90, 2006.CrossRefGoogle Scholar
  4. 4.
    Pomares, J., Corrales, J. A., García, G. J., and Torres, F., “Direct Visual Servoing to Track Trajectories in Human-Robot Cooperation,” International Journal of Advanced Robotic Systems, Vol. 8, No. 4, pp. 129–138, 2011.Google Scholar
  5. 5.
    Khatib, O., “Dynamic Control of Manipulator in Operational Space,” Proc. of 6th IFTOMM World Congress on Theory of Machines and Mechanisms, pp. 1128–1131, 1983.Google Scholar
  6. 6.
    Xian, B., de Queiroz, M. S., Dawson, D., and Walker, I., “Task-Space Tracking Control of Redundant Robot Manipulators Via Quaternion Feedback,” Proc. of IEEE International Conference on Control Applications, pp. 363–368, 2001.Google Scholar
  7. 7.
    Zergeroglu, E., Dawson, D. M., Walker, I., and Behal, A., “Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators,” Proc. of American Control Conference, Vol. 4, pp. 2513–2517, 2000.Google Scholar
  8. 8.
    Tatlicioglu, E., Braganza, D., Burg, T. C., and Dawson, D. M., “Adaptive Control of Redundant Robot Manipulators with Sub-Task Objectives,” Robotica, Vol. 27, No. 6, pp. 873–881, 2009.CrossRefGoogle Scholar
  9. 9.
    Lin, C. J., “Motion Planning of Redundant Robots by Perturbation Method,” Mechatronics, Vol. 14, No. 3, pp. 281–297, 2004.CrossRefGoogle Scholar
  10. 10.
    Nakanishi, J., Cory, R., Mistry, M., Peters, J., and Schaal, S., “Operational Space Control: A Theoretical and Empirical Comparison,” The International Journal of Robotics Research, Vol. 27, No. 6, pp. 737–757, 2008.CrossRefGoogle Scholar
  11. 11.
    Kumar, N., Borm, J. H., Panwar, V., and Chai, J., “Tracking Control of Redundant Robot Manipulators using RBF Neural Network and an Adaptive Bound on Disturbances,” Int. J. Precis. Eng. Manuf., Vol. 13, No. 8, pp. 1377–1386, 2012.CrossRefGoogle Scholar
  12. 12.
    Pomares, J., Perea, I., and Torres, F., “Dynamic Visual Servoing with Chaos Control for Redundant Robots,” IEEE/ASME Transactions on Mechatronics, Vol. 19, No. 2, pp. 423–431, 2014.CrossRefGoogle Scholar
  13. 13.
    Udwadia, F. E., “A New Perspective on the Tracking Control of Nonlinear Structural and Mechanical Systems,” Proceedings of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences, Vol. 459, No. 2035, pp. 1783–1800, 2003.CrossRefzbMATHMathSciNetGoogle Scholar
  14. 14.
    Yoshikawa, T., “Manipulability of Robotic Mechanisms,” The International Journal of Robotics Research, Vol. 4, No. 2, pp. 3–9, 1985.CrossRefMathSciNetGoogle Scholar
  15. 15.
    Park, J., Chung, W., and Youm, Y., “Computation of Gradient of Manipulability for Kinematically Redundant Manipulators Including Dual Manipulators System,” Transactions on Control, Automation and Systems Engineering, Vol. 1, No. 1, pp. 8–15, 1999.Google Scholar
  16. 16.
    Park, J., Chung, W., and Youm, Y., “Computation of Gradient of Manipulability for Kinematically Redundant Manipulators Including Dual Manipulators System,” Transactions on Control, Automation and Systems Engineering, Vol. 1, No. 1, pp. 8–15, 1999.Google Scholar

Copyright information

© Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  • Jorge Pomares
    • 1
    Email author
  • Carlos Alberto Jara
    • 1
  • Javier Pérez
    • 1
  • Fernando Torres
    • 1
  1. 1.Department of Physics, Systems Engineering and Signal TheoryUniversity of Alicante, Carretera de San Vicente del RaspeigAlicanteSpain

Personalised recommendations