An integration method between vision-based disturbance observer and bilateral haptic system for robust tracking of target object

Jamaluddin, Muhammad Herman; Shimono, Tomoyuki; Motoi, Naoki

doi:10.1109/amc.2014.6823370

Cited by 4 publications

(2 citation statements)

References 14 publications

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“…There're cases where we're unable to remove the object of interest because it is either too big or heavy to be manipulated. An example of such case would be the case of an exploratory robot wanting to collect training images of a interesting monolith but is blocked by environmental objects such as leaves, smaller manipulatable rocks and even people where if allowed to remain in the training image can lead to incorrect perception [1,9] and ultimately failure in future operations [5,6,[10][11][12][13][14][15]. There are also cases where we might not want to manipulate the object of interest even if we could.…”

Section: Introductionmentioning

confidence: 99%

Object Isolation with Minimal Impact Towards the Object of Interest in a Complex Environment using Manipulation Primitives

2019

IJRTE

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It is common in the field of robotic manipulation to specifically target and precisely move, displace or manipulate the targeted object of interest. This however may not always be the best possible course of action as there are situations where it is not possible to manipulate the object of interest or is not in a condition to be manipulated. This research paper explores and subsequently proposes 3 object isolation technique for the purpose of isolating a targeted object of interest from the environment incontras to the standard utilization of object singulation technique. The goal was to develop an algorithm than can successfully isolate the object of interest from the environment via removing the environment without/with minimal impact towards the object of interest. Results from the experiment indicated that the proposed algorithms can successfully isolate the object of interest with minimal impact towards the object of interest scoring an average of 0.85cm/actuation for MSMAPPS, 0.75cm/actuation for MSMAPOS and finally 0.27cm/actuation for BSMAPOS. These results indicates a relatively small displacement per actuation at 4.35% displacement per actuation, 3.75% displacement per actuation, and 1.35% displacement per actuation relative to the workspace respectively.

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Section: Introductionmentioning

confidence: 99%

Object Isolation with Minimal Impact Towards the Object of Interest in a Complex Environment using Manipulation Primitives

2019

IJRTE

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“…The function of the position controller system is to allow the tracking position system to track the desired trajectory in the critically damp response as shown in Equation (2.12). The position coefficient and velocity coefficient are set based on the natural angular frequency and a damping coefficient of the control system as show in Equation (2.10) and Equation (2.11) (Jamaluddin et al, 2014). Moreover, the force controller system has to maintain the contact stability between force at end-effectors and the force at the contact object (Leksono et al, 1996) as shown in Equation (2.13).…”

Section: Bilateral Teleoperation Control Systemmentioning

confidence: 99%

Investigation on MDOF Bilateral Teleoperation Control System Using Geared DC-Motor

Lee¹,

Ahmad²,

Muhammad³

2016

MAS

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This paper presents the research on bilateral teleoperation control system of two link planar manipulator. The bilateral control system consists of master and slave system using geared DC-motor. Both master and slave manipulators are actuated by DC-Micromotor attached to planetary gearhead to increase the output torque. In the previous researches, the common used actuators were linear motors and direct drive DC motor. However, the application of DC motor with gearhead is vast in industry, due to the need for high output force or torque. Thus in this paper, a deeper research on bilateral teleoperation control system is proposed with implementation of gear into the DC-motor. The modelling of multi-degrees-of-freedom (MDOF) bilateral teleoperation control system is designed with the implementation of workspace observer (WOB), reaction force observer (RFOB), position controller and force controller. During the experiments, free motion and contact motion were conducted to validate the proposed setup in bilateral teleoperation control system. The position and torque responses of both master and slave manipulators were observed. The operationality and reproducibility of this proposed system were evaluated through experimental results. Ultimately, this paper focused on the performance of the proposed setup and is analysed by using reproducibility and operationality.

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Disturbance observer based target tracking control for unmanned aerial vehicles

Yong

2017

2017 International Conference on Advanced Mechatronic Systems (ICAMechS)

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An integration method between vision-based disturbance observer and bilateral haptic system for robust tracking of target object

Cited by 4 publications

References 14 publications

Object Isolation with Minimal Impact Towards the Object of Interest in a Complex Environment using Manipulation Primitives

Object Isolation with Minimal Impact Towards the Object of Interest in a Complex Environment using Manipulation Primitives

Investigation on MDOF Bilateral Teleoperation Control System Using Geared DC-Motor

Disturbance observer based target tracking control for unmanned aerial vehicles

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