Download or read book Robust Visual Servoing of Robot Manipulators Based on Passivity written by A. Luis Rodríguez and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Visual Servoing written by Koichi Hashimoto and published by World Scientific. This book was released on 1993 with total page 378 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book treats visual feedback control of mechanical systems, mostly robot manipulators. It not only deals with image processing techniques and robot control schemes but also covers the latest investigation of the design of the visual servo mechanism based on modern linear and nonlinear control theory, the adaptive control scheme, fuzzy logic, and neural networks. New concepts for utilizing visual sensory information for real-time manipulator control are derived and the performances are evaluated through simulations and/or experiments.The contributors to this book are robotics specialists from all over the world. The book gives a practical perspective on visual servoing to researchers, engineers, and students working in this area.

Download or read book Visual Servoing in Robotics written by Jorge Pomares and published by MDPI. This book was released on 2021-08-31 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt: Visual servoing is a well-known approach to guide robots using visual information. Image processing, robotics, and control theory are combined in order to control the motion of a robot depending on the visual information extracted from the images captured by one or several cameras. With respect to vision issues, a number of issues are currently being addressed by ongoing research, such as the use of different types of image features (or different types of cameras such as RGBD cameras), image processing at high velocity, and convergence properties. As shown in this book, the use of new control schemes allows the system to behave more robustly, efficiently, or compliantly, with fewer delays. Related issues such as optimal and robust approaches, direct control, path tracking, or sensor fusion are also addressed. Additionally, we can currently find visual servoing systems being applied in a number of different domains. This book considers various aspects of visual servoing systems, such as the design of new strategies for their application to parallel robots, mobile manipulators, teleoperation, and the application of this type of control system in new areas.

Download or read book Recent Advances in Robust Control written by Andreas Müller and published by BoD – Books on Demand. This book was released on 2011-11-21 with total page 412 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robust control has been a topic of active research in the last three decades culminating in H_2/H_\infty and \mu design methods followed by research on parametric robustness, initially motivated by Kharitonov's theorem, the extension to non-linear time delay systems, and other more recent methods. The two volumes of Recent Advances in Robust Control give a selective overview of recent theoretical developments and present selected application examples. The volumes comprise 39 contributions covering various theoretical aspects as well as different application areas. The first volume covers selected problems in the theory of robust control and its application to robotic and electromechanical systems. The second volume is dedicated to special topics in robust control and problem specific solutions. Recent Advances in Robust Control will be a valuable reference for those interested in the recent theoretical advances and for researchers working in the broad field of robotics and mechatronics.

Download or read book Practical Model based and Robust Control of Parallel Manipulators Using Passivity and Sliding Mode Theory written by Houssem Abdellatif and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In this paper an experimentally approved practical methodology for the robust control of 6 DOFs parallel manipulators has been presented. A discussion on the key issues for a successful control strategy for such systems has been provided. The computational efficiency of the control has two aspects: the first one is the calculation of the complex dynamics model and the second is the determination of the end-effector motion. Both aspects can be solved by feedforward desired dynamics compensation, that is in this sense more appropriate then the feedback dynamics compensation. The use of observers for the actuator velocities allows to increase the control bandwidth. We used the passivity paradigm to develop an approach that merges the feedforward compensation technique with the observer-based feedback to provide a first basic controller, that is locally uniformly and ultimately bounded. In a second step the basic algorithm is extended with a robust switching term. This has been designed to harmonize with the basic algorithm by consequently using desired dynamics and the consideration of the observer dynamics. The practicability of the approach is improved by restricting the robust term on the friction part of the model, which is classically affected by important and time-varying uncertainty. The presented methodology has been investigated and substantiated by a set of experiments. It has been demonstrated that the algorithm augmented with the switching term exhibits the best performance. Nevertheless, a tradeoff between accuracy and stability should be met while tuning the controller, especially with respect to significant initial errors.

Download or read book Passivity Based Control and Estimation in Networked Robotics written by Takeshi Hatanaka and published by Springer. This book was released on 2015-04-10 with total page 349 pages. Available in PDF, EPUB and Kindle. Book excerpt: Highlighting the control of networked robotic systems, this book synthesizes a unified passivity-based approach to an emerging cross-disciplinary subject. Thanks to this unified approach, readers can access various state-of-the-art research fields by studying only the background foundations associated with passivity. In addition to the theoretical results and techniques, the authors provide experimental case studies on testbeds of robotic systems including networked haptic devices, visual robotic systems, robotic network systems and visual sensor network systems. The text begins with an introduction to passivity and passivity-based control together with the other foundations needed in this book. The main body of the book consists of three parts. The first examines how passivity can be utilized for bilateral teleoperation and demonstrates the inherent robustness of the passivity-based controller against communication delays. The second part emphasizes passivity’s usefulness for visual feedback control and estimation. Convergence is rigorously proved even when other passive components are interconnected. The passivity approach is also differentiated from other methodologies. The third part presents the unified passivity-based control-design methodology for multi-agent systems. This scheme is shown to be either immediately applicable or easily extendable to the solution of various motion coordination problems including 3-D attitude/pose synchronization, flocking control and cooperative motion estimation. Academic researchers and practitioners working in systems and control and/or robotics will appreciate the potential of the elegant and novel approach to the control of networked robots presented here. The limited background required and the case-study work described also make the text appropriate for and, it is hoped, inspiring to students.

Download or read book Passivity based Tracking Control of a Robot Manipulator Using an Extended State Observer written by Mohammed Ali and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The development and use of robot manipulators has increased in the past threedecades. Robot manipulators are widely in manufacturing, factories, industrial plants, and in the medical field. This dissertation presents a combination of a passivity- based controller and an extended state observer (ESO) for the tracking control of a three degree-of-freedom (DOF) PUMA 500 robot manipulator under parameter variations, payload variations, and external disturbances. The dynamic model of the PUMA robot and its structural properties are analyzed. The extra state in the ESO estimates the parameter variations and external disturbances in the control system. Then the passivity-based controllers cancel them in the control law. The stability of the proposed control schemes and the convergence of the observation errors are analyzed. Simulations prove that the proposed control schemes are robust and track well under parameter variations, payload variations, and external disturbances, thus validating the proposed control scheme.

Download or read book Robot Force Control written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.

Download or read book Aerial Manipulation written by Matko Orsag and published by Springer. This book was released on 2017-09-19 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.

Download or read book A Probabilistic Roadmap Based Path Planning for Visual Servo of Robotic Manipulators written by Farid Arvani and published by . This book was released on 2008 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Visual Servoing in Robotics written by Jorge Pomares and published by . This book was released on 2021 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt: Visual servoing is a well-known approach to guide robots using visual information. Image processing, robotics, and control theory are combined in order to control the motion of a robot depending on the visual information extracted from the images captured by one or several cameras. With respect to vision issues, a number of issues are currently being addressed by ongoing research, such as the use of different types of image features (or different types of cameras such as RGBD cameras), image processing at high velocity, and convergence properties. As shown in this book, the use of new control schemes allows the system to behave more robustly, efficiently, or compliantly, with fewer delays. Related issues such as optimal and robust approaches, direct control, path tracking, or sensor fusion are also addressed. Additionally, we can currently find visual servoing systems being applied in a number of different domains. This book considers various aspects of visual servoing systems, such as the design of new strategies for their application to parallel robots, mobile manipulators, teleoperation, and the application of this type of control system in new areas.

Download or read book Passivity based Visual Force Feedback Control for Eye to Hand Systems written by Hiroyuki Kawai and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This chapter considers 3D visual force feedback control for eye-to-hand systems. In our approach, we can control not only the position but also the orientation of the robot hand with a contact force by using visual information. The proposed method can be regarded as an extension of the hybrid position/force control to the hybrid vision/force control. The main contribution of this chapter is to show that the visual force feedback system has the passivity which allows us to prove stability in the sense of Lyapunov. Both the passivity of the manipulator dynamics and the passivity of the visual feedback system are preserved in.

Download or read book Adaptive Control for Robotic Manipulators written by Dan Zhang and published by CRC Press. This book was released on 2017-02-03 with total page 407 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.

Download or read book Image based Visual Servoing with Hybrid Camera Configuration for Robust Robotic Grasping written by and published by . This book was released on 2003 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A challenging anthropomorphic characteristic which a robotic manipulator should acquire is vision. When first introduced to manufacturing and material-handling industries, robots were taught to move "blindly" in a structured environment where the position and the orientation of the manipulated object were assumed to be known. Since then, a spectrum of visual servoing techniques has been developed to increase the versatility and accuracy of the robotic manipulators for carrying out tasks in less structured environments. In particular, the concept of continuous motion control of robotic systems using a visual feedback loop has been applied recently to unstructured environments. In the work presented in this thesis, a functioning mobile manipulator platform, named Autonomous Intelligent Mobile Manipulator (AIMM) with a hybrid camera configuration has been developed. This platform is a member of the cooperative heterogeneous mobile robotic team at the Industrial Automation Laboratory (IAL) of the University of British Columbia (UBC). Given the increasing threat of terrorism and natural disasters around the world, the encompassing research explores new robotic solutions for search and rescue applications. Specifically, the LkL robotics subgroup develops robotic capabilities that can assist or even replace human rescuers in situations that involve life threatening risks. The main contribution of the work in this thesis can be summarized by its two aspects: hardware and control scheme. The developed mobile manipulator consists of a light-weight yet capable manipulator, a mobile robotic base, and a hybrid camera configuration using both a monocular camera and a stereo camera. The classical image-based visual servoing scheme has been improved by techniques of depth estimation and neural network-based grasping. In the present work, both the platform and the control scheme have been tested in real-life scenarios where multiple robots complete a complex task of object handling.

Download or read book Visual Control of Robots written by Peter I. Corke and published by Taylor & Francis Group. This book was released on 1996 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robust Tracking Control of Robot Manipulators written by Zhihua Qu and published by Institute of Electrical & Electronics Engineers(IEEE). This book was released on 1996 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bringing together the latest research in the field, Robust Tracking Control of Robot Manipulators is the first book to provide systematic methods for stabilizing unwanted flexible, uncertain, and unmodeled dynamics. The authors present a thorough comparison of state-of-the-art and classical designs of all controls: linear or nonlinear (simple or complicated), conventional or robust, adaptive or learning. Focusing on control design and performance analysis, this book will help you to apply advanced controls effectively and to establish equivalent and different robustness. This book will be invaluable as a guide to researchers and practicing engineers in the field of robot control, automation, and robotic engineering. It will also serve as a useful reference for control of robot manipulators and mechanical-electrical systems.

Download or read book Adaptive Control of Mechanical Manipulators written by John J. Craig and published by Addison Wesley Publishing Company. This book was released on 1988 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: