Image space trajectory tracking of 6-DOF robot manipulator in assisting visual servoing

Krishnan, Megha G.; Ashok, S.

doi:10.1080/00051144.2021.2022889

Cited by 9 publications

(4 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The robot motion is tracked and image features are retrieved, and the success of the approach is determined by feature trajectory testing. The findings demonstrated the method's high stability, ability to track the robot controller's vibration in real-time, and viability [13]. A PID-PSS method based on control constraints was created by Lakshmi et al And colleagues to modify the operational stability of the power system stabiliser (PSS).…”

Section: Related Workmentioning

confidence: 99%

Six-DOF modular robotic arm bearing chatter suppression algorithm

Zheng,

Jin

2023

J. vibroeng.

View full text Add to dashboard Cite

Robotic arms are frequently utilized in contemporary industrial production since they offer great qualities like high precision and low mass. How to minimize robotic arm tremors in order to maximize their control effect has emerged as one of the most critical issues to be resolved with the continued development of industrial intelligence. The study uses a combination of PID control and an artificial fish swarm technique to optimize the parameters and confirm the simulation control effect based on the kinematic analysis of a six-degree-of-freedom (Six-DOF) modular robotic arm. The findings demonstrated that the suggested fusion approach converges to zero in 80 iterations and has a recall of 0.893 and 0.785 at an accuracy of 0.8 and 0.9, respectively. The robotic arm control system’s average control effect is 42.96 %, which is a respectable control performance. In the second and third studies, the fusion approach stabilized actuator end tremor suppression after 0.01 s and 0.0001 s, respectively. It shows that the technique can effectively suppress robotic arm bearing tremor and has high flexibility for robotic arm tremor suppression, which offers trustworthy technological support for improving the motion control system of industrial robots.

show abstract

Section: Related Workmentioning

confidence: 99%

Six-DOF modular robotic arm bearing chatter suppression algorithm

Zheng,

Jin

2023

J. vibroeng.

View full text Add to dashboard Cite

show abstract

“…e first bionic quadruped mobile robot that can be applied to complex scenarios, Big Dog, was developed by Boston Dynamics in 2005 [17]. At present, China's bionic quadruped mobile robot research has also made great breakthroughs, and the Cyber Dog [18], independently developed by Xiaomi in 2021, is not only functional but also priced to be accessible in ordinary families.…”

Section: Research Backgroundmentioning

confidence: 99%

Robot Trajectory Planning Based on the Energy Management Strategy

2022

Mathematical Problems in Engineering

View full text Add to dashboard Cite

With the increasing demand for automated production technology in national defense, industry, agriculture, and other fields, the status and role of mobile robots are becoming more and more pivotal. The intelligent technology of robots is becoming more and more demanding in terms of reliability, stability, efficiency, and adaptability, and the autonomous navigation technology of mobile robots is facing new challenges. This paper introduces the basic principle of traditional A∗ algorithm, points out the problems of this algorithm such as cumbersome calculation, large turning angle, and unsmooth derived trajectory planning, and proposes an improved A∗ algorithm. The improved algorithm introduces a two-way alternating search mechanism to improve the efficiency of the search path, and the improvement of the heuristic function solves the problem that the two-way alternating search A∗ algorithm takes more time when there are obstacles perpendicular to the path on the way to the encounter. Simulation experiments in different raster environments prove that compared with the traditional A∗ algorithm, genetic algorithm, and simulated annealing algorithm, the improved A∗ algorithm can significantly improve the search path speed, while overcoming the disadvantages of many path turning angles and large turning angles and is an efficient and feasible algorithm for raster map environments.

show abstract

“…Vision-based tracking control is widely used in many unmanned autonomous systems (UASs), such as mobile robots and unmanned aerial vehicles, due to the strong environmental perception [1][2][3][4]. The task of a visual tracking system is to ensure that the optical equipment always aims at the target; in other words, the tracked target remains in the center of the image [5].…”

Section: Introductionmentioning

confidence: 99%

Gain Function-Based Visual Tracking Control for Inertial Stabilized Platform with Output Constraints and Disturbances

2022

View full text Add to dashboard Cite

In this paper, a composite control strategy is proposed to deal with output constraints and disturbances of the visual tracking system for an inertial stabilized platform, which combines active disturbance compensation and the variable gain function technique. Firstly, the model of system considering multi-source disturbances is established, where the controlled output is the constrained position of the target in the image plane. Secondly, in order to avoid the tracked target being lost in the field of view of the camera, a control method based on the variable gain function technique is designed to ensure that the controlled output remains within the feasible range. Moreover, the active disturbance estimation and compensation method is introduced to improve the anti-disturbance ability of the system under the situation of small output error, obtaining satisfactory tracking performance. The stability analysis and the proof of constrained output are given following the controller design. Finally, results of simulation and experiments are shown to illustrate the promised advantages of the proposed composite control approach.

show abstract

Image space trajectory tracking of 6-DOF robot manipulator in assisting visual servoing

Cited by 9 publications

References 25 publications

Six-DOF modular robotic arm bearing chatter suppression algorithm

Six-DOF modular robotic arm bearing chatter suppression algorithm

Robot Trajectory Planning Based on the Energy Management Strategy

Gain Function-Based Visual Tracking Control for Inertial Stabilized Platform with Output Constraints and Disturbances

Contact Info

Product

Resources

About