Dynamic Visual Servoing With Chaos Control for Redundant Robots
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http://hdl.handle.net/10045/37379
Título: | Dynamic Visual Servoing With Chaos Control for Redundant Robots |
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Autor/es: | Pomares, Jorge | Perea Fuentes, Iván | Torres, Fernando |
Grupo/s de investigación o GITE: | Automática, Robótica y Visión Artificial |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Palabras clave: | Robot control | Robot motion | Robot vision systems |
Área/s de conocimiento: | Ingeniería de Sistemas y Automática |
Fecha de publicación: | abr-2014 |
Editor: | IEEE |
Cita bibliográfica: | IEEE/ASME Transactions on Mechatronics. 2014, 19(2): 423-431. doi:10.1109/TMECH.2013.2243160 |
Resumen: | This paper presents a new dynamic visual control system for redundant robots with chaos compensation. In order to implement the visual servoing system, a new architecture is proposed that improves the system maintainability and traceability. Furthermore, high performance is obtained as a result of parallel execution of the different tasks that compose the architecture. The control component of the architecture implements a new visual servoing technique for resolving the redundancy at the acceleration level in order to guarantee the correct motion of both end-effector and joints. The controller generates the required torques for the tracking of image trajectories. However, in order to guarantee the applicability of this technique, a repetitive path tracked by the robot-end must produce a periodic joint motion. A chaos controller is integrated in the visual servoing system and the correct performance is observed in low and high velocities. Furthermore, a method to adjust the chaos controller is proposed and validated using a real three-link robot. |
Patrocinador/es: | This work was supported by the Ministry of Science and Innovation of the Spain Government under Research Project DPI2011-22766 and Project DPI2012-32390. |
URI: | http://hdl.handle.net/10045/37379 |
ISSN: | 1083-4435 (Print) | 1941-014X (Online) |
DOI: | 10.1109/TMECH.2013.2243160 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Derechos: | © Copyright 2014 IEEE |
Revisión científica: | si |
Versión del editor: | http://dx.doi.org/10.1109/TMECH.2013.2243160 |
Aparece en las colecciones: | INV - AUROVA - Artículos de Revistas INV - HURO - Artículos de Revistas |
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2014_Pomares_etal_IEEE-ASME_final.pdf | Versión final (acceso restringido) | 781,23 kB | Adobe PDF | Abrir Solicitar una copia |
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