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International Conference on Autonomous and Intelligent Systems

AIS 2011: Autonomous and Intelligent Systems pp 83–92Cite as

Autonomous Manipulation Combining Task Space Control with Recursive Field Estimation

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6752))

Abstract

This paper proposes an autonomous manipulation strategy that enables an articulated manipulator to detect and locate a particular phenomenon occurring in the surrounding environment. More specifically, the sensor-driven task space control of an end-effector is combined with the field estimation and the target tracking in an unknown spatial field of interest. The radial basis function (RBF) network is adopted to model spatial distribution of an environmental phenomenon as a scalar field. Their weight parameters are estimated by a recursive least square (RLS) using the collective measurements from the on-board sensors. Then, the asymptotic source tracking has been achieved by the control law based on the gradient of the estimated field. Experimental results verified the effectiveness of the proposed scheme.

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Author information

Authors and Affiliations

  1. University of Waterloo, Waterloo, ON, N2L 3G1, Canada

    Soo Jeon

  2. SoongSil University, Seoul, 156-143, Korea

    Hyeong-Joon Ahn

Authors
  1. Soo Jeon
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  2. Hyeong-Joon Ahn
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Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering, University of Waterloo, N2L 3G1, Waterloo, ON, Canada

    Mohamed Kamel  & Fakhri Karray  & 

  2. School of Information Technology and Engineering (SITE), University of Orrawa, 800 King Edward Avenue, K1N 6N5, Ottawa, ON, Canada

    Wail Gueaieb

  3. Faculty of Engineering and Material Science, Department of Mechatronics Engineering, German University in Egypt, Main Entrance El Tagamoa El Khames, New Cairo City, Egypt

    Alaa Khamis

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© 2011 Springer-Verlag Berlin Heidelberg

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Jeon, S., Ahn, HJ. (2011). Autonomous Manipulation Combining Task Space Control with Recursive Field Estimation. In: Kamel, M., Karray, F., Gueaieb, W., Khamis, A. (eds) Autonomous and Intelligent Systems. AIS 2011. Lecture Notes in Computer Science(), vol 6752. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21538-4_9

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  • DOI: https://doi.org/10.1007/978-3-642-21538-4_9

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-21537-7

  • Online ISBN: 978-3-642-21538-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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