Visual control with adaptive dynamical compensation for 3D target tracking by mobile manipulators

被引：22

作者：

Andaluz, Victor ^{[1
]}

Carelli, Ricardo ^{[1
,2
]}

Salinas, Lucio ^{[1
,2
]}

Marcos Toibero, Juan ^{[1
,2
]}

Roberti, Flavio ^{[1
,2
]}

机构：

[1] Univ Nacl San Juan, Inst Automat, San Juan, Argentina

[2] Consejo Nacl Invest Cient & Tecn, Buenos Aires, DF, Argentina

来源：

MECHATRONICS | 2012年 / 22卷 / 04期

关键词：

Visual control; Mobile manipulator; Stability analysis; 3D target tracking;

D O I：

10.1016/j.mechatronics.2011.09.013

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper an image-based dynamic visual feedback control for mobile manipulators is presented to solve the target tracking problem in the 3D-workspace. The design of the whole controller is based on two cascaded subsystems: a minimum norm visual kinematic controller which complies with the 3D target tracking objective, and an adaptive controller that compensates the dynamics of the mobile manipulator. Both the kinematic controller and the adaptive controller are designed to prevent from command saturation. Robot commands are defined in terms of reference velocities. Stability and robustness are proved by using Lyapunov's method. Finally, experimental results are presented to confirm the effectiveness of the proposed visual feedback controller. (C) 2011 Elsevier Ltd. All rights reserved.

引用

页码：491 / 502

页数：12

共 25 条

[1]

[Anonymous], 2004, Introduction to Autonomous Mobile Robots

[2]

Bayle B, 2001, IEEE INT CONF ROBOT, P1251, DOI 10.1109/ROBOT.2001.932782

[3]

Chaumette F., 1993, Visual Servoing: Real-Time Control of Robot Manipulators Based on Visual Sensory Feedback, P199

[4]

DAS Y, 1999, P SPIE C ORL FLOR AP, P5

[5]

Hashimoto K, 1996, IEEE DECIS CONTR P, P2482, DOI 10.1109/CDC.1996.573463

[6] A tutorial on visual servo control [J].

Hutchinson, S ;

Hager, GD ;

Corke, PI .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1996, 12 (05) :651-670

[7]

Kaufman H., 1998, DIRECT ADAPTIVE CONT, V2nd

[8] Mobile manipulation: The robotic assistant [J].

Khatib, O .

ROBOTICS AND AUTONOMOUS SYSTEMS, 1999, 26 (2-3) :175-183

[9] Visually-guided grasping while walking on a humanoid robot [J].

Mansard, Nicolas ;

Stasse, Olivier ;

Chaumette, Francois ;

Yokoi, Kazuhito .

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, :3041-+

[10] Eye-to-hand approach on eye-in-hand configuration within real-time visual servoing [J].

Muis, A ;

Ohnishi, K .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2005, 10 (04) :404-410

← 1 2 3 →