Direct visual servoing framework based on optimal control for redundant joint structures

Pomares, Jorge; Jara, Carlos A.; Pérez, Joaquín; Torres, Fernando

doi:10.1007/s12541-015-0035-z

Cited by 9 publications

(2 citation statements)

References 14 publications

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“…Additionally, we can apply the optimal framework developed in [40] to derive a set of optimized controllers. This framework minimizes a cost function 𝝉 𝑖 𝑇 𝑾𝝉 𝑖 , where 𝑾 is a weight matrix, for a robot with the dynamics as in Eq.…”

Section: Tracking Trajectoriesmentioning

confidence: 99%

Trajectory Optimization and Control of a Free-Floating Two-Arm Humanoid Robot

Ramón

Calvo

Trujillo

et al. 2022

Journal of Guidance, Control, and Dynamics

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An optimization algorithm for planning the motion of a humanoid robot during extravehicular activities is presented in this paper. The algorithm can schedule and plan the movements of the two robotic arms to move the humanoid robot by using the handrails present outside the international space station. The optimization algorithm considers the eventual constraints imposed by the topology of the handrails and calculates the sequence of grasping and non-grasping phases needed to push and pull the robot along the handrails. A low-level controller is also developed and used to track the planned arms and end-effectors trajectories. Numerical simulations assess the applicability of the proposed strategy in three different typical operations that potentially can be performed in an extravehicular activity scenario.I.

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Section: Tracking Trajectoriesmentioning

confidence: 99%

Trajectory Optimization and Control of a Free-Floating Two-Arm Humanoid Robot

Ramón

Calvo

Trujillo

et al. 2022

Journal of Guidance, Control, and Dynamics

Self Cite

View full text Add to dashboard Cite

show abstract

“…By using this approach, the internal feedback control loop for the servomotors is removed, and the visual information is used to directly generate the currents or torques to be applied to the motors of the robot's every joint. Some direct visual control systems for redundant robots with chaos compensation have been developed to avoid robotic chaotic behaviors with new architectures to improve systems maintainability and traceability [9,10]. Within the field of direct image-based visual servoing systems it is worth mentioning works such as [11] that considers a FPGA (Field Programmable Gate Arrays) implementation, or [12] that extends the previous direct visual servoing for the optimal control of robot manipulators.…”

Section: Introductionmentioning

confidence: 99%

Optimal Image-Based Guidance of Mobile Manipulators using Direct Visual Servoing

et al. 2019

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This paper presents a direct image-based controller to perform the guidance of a mobile manipulator using image-based control. An eye-in-hand camera is employed to perform the guidance of a mobile differential platform with a seven degrees-of-freedom robot arm. The presented approach is based on an optimal control framework and it is employed to control mobile manipulators during the tracking of image trajectories taking into account robot dynamics. The direct approach allows us to take both the manipulator and base dynamics into account. The proposed image-based controllers consider the optimization of the motor signals sent to the mobile manipulator during the tracking of image trajectories by minimizing the control force and torque. As the results show, the proposed direct visual servoing system uses the eye-in-hand camera images for concurrently controlling both the base platform and robot arm. The use of the optimal framework allows us to derive different visual controllers with different dynamical behaviors during the tracking of image trajectories.

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Kinematic Chain Optimization Design Based on Deformation Sensitivity Analysis of a Five-Axis Machine Tool

Zhang

Liu

et al. 2020

Int. J. Precis. Eng. Manuf.

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Direct visual servoing framework based on optimal control for redundant joint structures

Cited by 9 publications

References 14 publications

Trajectory Optimization and Control of a Free-Floating Two-Arm Humanoid Robot

Trajectory Optimization and Control of a Free-Floating Two-Arm Humanoid Robot

Optimal Image-Based Guidance of Mobile Manipulators using Direct Visual Servoing

Kinematic Chain Optimization Design Based on Deformation Sensitivity Analysis of a Five-Axis Machine Tool

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