Direct visual tracking control of remote cellular robots

Abstract

This paper presents the design of a stable non-linear control system for the remote visual tracking of cellular robots. The robots are controlled through visual feedback based on the processing of the image captured by a fixed video camera observing the workspace. The control algorithm is based only on measurements on the image plane of the visual camera -direct visual control -thus avoiding the problems related to camera calibration. In addition, the camera plane may have any (unknown) orientation with respect to the robot workspace. The controller uses an on-line estimation of the image Jacobians. Considering the Jacobians' estimation errors, the control system is capable of tracking a reference point moving on the image plane -defining the reference trajectory -with an ultimately bounded error. An obstacle avoidance strategy is also developed in the same context, based on the visual impedance concept. Experimental results show the performance of the overall control system.

Switching control signal for bilateral tele-operation of a mobile manipulator

“…In the case of robotic manipulators, the force feedback is the result of a physical interaction with the environment; but in the case of mobile robots, the interaction with the environment comes through a fictitious force, which in general is a function of the distance between the mobile platform and the obstacles [20].…”

Control Estable de Formación Basado en Visión Omnidireccional para Robots Móviles No Holonómicos

“…Debido a que se ha probado que los errores de orientación y de velocidad están finalmente acotados por (27) y (29), entonces (Carelli et al, 2006b),…”

EP-based kinematic control and adaptive fuzzy sliding-mode dynamic control for wheeled mobile robots

“…Issues concerning the control of nonholonomic WMRs have been studied for the past few decades [3][4][5][6][7][8]10,11,14,15,18,22,23,28,30,34]. The system framework of WMRs can be classified into two main model categories: kinematic and dynamic.…”

“…The system framework of WMRs can be classified into two main model categories: kinematic and dynamic. Several studies [3,15,22,28] have examined kinematic tracking problems without considering the dynamics of WMRs. Nevertheless, in a real trajectory-tracking problem, it is hard to obtain get excellent tracking performance just through considering a kinematic model because there will always be errors between the output of the velocity controller and the real velocity of the WMR.…”