Autonomous Microrobotic Manipulation Using Visual Servo Control

In this paper, we propose an adaptive faulttolerant visual control scheme for robotic manipulators with possible actuator failures in an uncalibrated environment. Most existing visual control approaches for robot system does not take into acount actuator failures, which may prominently affect the transient performance of the system in practice. In order to moderate the detrimental and adverse effects of actuator failures on the system, a new adaptive algorithm is proposed to compensate stuck-type failures occurred in actuators. Moreover, by proposing a decoupling method, the uncertain parameter model of actuator failure is successfully separated from the dynamics model while the two models are coupled in most existing results(e.g.[33], [34]). And the stability of the dynamic system and the convergence of the image error are proved by the Lyapunov analysis method. Finally, the proposed control scheme is applied to simulation model of 3-DOF manipulator, and the effectiveness and stability of the controller is verified by comparing and analysing the tracking performance of the manipulator under different failure parameters.

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“…This property can be easily explained by the matrix βM is a solution of (6) for any nonzero parameter β if M is a solution for (6).…”

Section: Robot Kinematics and Visual Modelmentioning

confidence: 99%

“…where M denotes the estimation of the matrix M. Note that e(t j ) ∈ R 3×1 is a vector whose third component is always zero. From equation (6) and equation ( 7), we have…”

Section: Robot Kinematics and Visual Modelmentioning

confidence: 99%

Adaptive fault-tolerant visual control of robot manipulators using an uncalibrated camera

Yang

Yuan²,

Lai³

2022

Nonlinear Dyn

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“…Micro-vision, consisting of a microscope and a camera, possesses the advantage of being a non-contact method with visualization capabilities [ 1 , 2 , 3 , 4 , 5 , 6 , 7 ]. The larger the eyepiece multiplier, the smaller the depth of field.…”

Section: Introductionmentioning

confidence: 99%

Design and Test of a Spatial Nanopositioner for Evaluating the Out-of-Focus-Plane Performance of Micro-Vision

Wang

2023

Micromachines

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Micro-vision possesses high in-focus-plane motion tracking accuracy. Unfortunately, out-of-focus-plane displacements cannot be avoided, decreasing the in-focus-plane tracking accuracy of micro-vision. In this paper, a spatial nanopositioner is proposed to evaluate the out-of-focus-plane performance of a micro-vision system. A piezoelectric-actuated spatial multi-degree-of-freedom (multi-DOF) nanopositioner is introduced. Three in-plane Revolute-Revolute-Revolute-Revolute (RRRR) compliant parallel branched chains produce in-focus-plane motions. Three out-of-plane RRRR chains generate out-of-focus-plane motions. A typical micro-vision motion tracking algorithm is presented. A general grayscale template matching (GTM) approach is combined with the region of interest (ROI) method. The in-focus-plane motion tracking accuracy of the micro-vision system is tested. Different out-of-focus-plane displacements are generated using the proposed nanopositioner. The accuracy degradation of the in-focus-plane motion tracking is evaluated. The experimental results verify the evaluation ability of the proposed nanopositioner.

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“…Various non-prehensile manipulation methods are being used in practice and studied in the scientific literature. For example, nonprehensile manipulation operations can be performed by employing the devices that carry the objects to be moved [ 13 ], by pushing with robot end-effectors [ 14 , 15 ], and by controlling actuator arrays mounted under a flexible surface [ 16 ], etc. Micropositioning platforms take a significant share among nonprehensile manipulation methods and have attracted a lot of attention in recent years.…”

Section: Introductionmentioning

confidence: 99%

Omnidirectional Manipulation of Microparticles on a Platform Subjected to Circular Motion Applying Dynamic Dry Friction Control

et al. 2022

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Currently used planar manipulation methods that utilize oscillating surfaces are usually based on asymmetries of time, kinematic, wave, or power types. This paper proposes a method for omnidirectional manipulation of microparticles on a platform subjected to circular motion, where the motion of the particle is achieved and controlled through the asymmetry created by dynamic friction control. The range of angles at which microparticles can be directed, and the average velocity were considered figures of merit. To determine the intrinsic parameters of the system that define the direction and velocity of the particles, a nondimensional mathematical model of the proposed method was developed, and modeling of the manipulation process was carried out. The modeling has shown that it is possible to direct the particle omnidirectionally at any angle over the full 2π range by changing the phase shift between the function governing the circular motion and the dry friction control function. The shape of the trajectory and the average velocity of the particle depend mainly on the width of the dry friction control function. An experimental investigation of omnidirectional manipulation was carried out by implementing the method of dynamic dry friction control. The experiments verified that the asymmetry created by dynamic dry friction control is technically feasible and can be applied for the omnidirectional manipulation of microparticles. The experimental results were consistent with the modeling results and qualitatively confirmed the influence of the control parameters on the motion characteristics predicted by the modeling. The study enriches the classical theories of particle motion on oscillating rigid plates, and it is relevant for the industries that implement various tasks related to assembling, handling, feeding, transporting, or manipulating microparticles.

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Autonomous Microrobotic Manipulation Using Visual Servo Control

Cited by 10 publications

References 32 publications

Adaptive fault-tolerant visual control of robot manipulators using an uncalibrated camera

Adaptive fault-tolerant visual control of robot manipulators using an uncalibrated camera

Design and Test of a Spatial Nanopositioner for Evaluating the Out-of-Focus-Plane Performance of Micro-Vision

Omnidirectional Manipulation of Microparticles on a Platform Subjected to Circular Motion Applying Dynamic Dry Friction Control

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