Dynamic visual servo control of a 4-axis joint tool to track image trajectories during machining complex shapes
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Título: | Dynamic visual servo control of a 4-axis joint tool to track image trajectories during machining complex shapes |
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Autor/es: | Pomares, Jorge | Perea Fuentes, Iván | Jara, Carlos A. | Garcia, Gabriel J. | 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: | Visual servoing | Tracking image trajectories | Direct control | Robotics |
Área/s de conocimiento: | Ingeniería de Sistemas y Automática |
Fecha de publicación: | ago-2013 |
Editor: | Elsevier |
Cita bibliográfica: | Robotics and Computer-Integrated Manufacturing. 2013, 29(4): 261-270. doi:10.1016/j.rcim.2013.01.008 |
Resumen: | A large part of the new generation of computer numerical control systems has adopted an architecture based on robotic systems. This architecture improves the implementation of many manufacturing processes in terms of flexibility, efficiency, accuracy and velocity. This paper presents a 4-axis robot tool based on a joint structure whose primary use is to perform complex machining shapes in some non-contact processes. A new dynamic visual controller is proposed in order to control the 4-axis joint structure, where image information is used in the control loop to guide the robot tool in the machining task. In addition, this controller eliminates the chaotic joint behavior which appears during tracking of the quasi-repetitive trajectories required in machining processes. Moreover, this robot tool can be coupled to a manipulator robot in order to form a multi-robot platform for complex manufacturing tasks. Therefore, the robot tool could perform a machining task using a piece grasped from the workspace by a manipulator robot. This manipulator robot could be guided by using visual information given by the robot tool, thereby obtaining an intelligent multi-robot platform controlled by only one camera. |
Patrocinador/es: | This work was funded by the Ministry of Science and Innovation of Spain Government through the research project DPI2011-22766 and DPI2012-32390. |
URI: | http://hdl.handle.net/10045/38070 |
ISSN: | 0736-5845 (Print) | 1879-2537 (Online) |
DOI: | 10.1016/j.rcim.2013.01.008 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Revisión científica: | si |
Versión del editor: | http://dx.doi.org/10.1016/j.rcim.2013.01.008 |
Aparece en las colecciones: | INV - AUROVA - Artículos de Revistas INV - HURO - Artículos de Revistas |
Archivos en este ítem:
Archivo | Descripción | Tamaño | Formato | |
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2013_Pomares_etal_RCIM_final.pdf | Versión final (acceso restringido) | 1,72 MB | Adobe PDF | Abrir Solicitar una copia |
2013_Pomares_etal_RCIM.pdf | Versión revisada (acceso abierto) | 285,61 kB | Adobe PDF | Abrir Vista previa |
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