Minimal representation for the control of the Adept Quattro with rigid platform via leg observation considering a hidden robot model

Rosenzveig, Victor; Briot, Sébastien; Martinet, Philippe

doi:10.1109/iros.2013.6696387

Cited by 12 publications

(16 citation statements)

References 15 publications

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“…Recently, two of the authors of the present paper demonstrated in [19] that these points could be explained by considering that the visual servoing of the leg direction of the GS platform was equivalent to controlling another robot "hidden" within the controller, the 3-UPS 1 that has assembly modes and singular configurations different from those of the GS platform. A similar property was shown for the control of the Adept Quattro for which another hidden robot model, completely different from the one of the GS platform, was found [21]. All theoretical results were validated through experimental works in [22].…”

Section: Introductionsupporting

confidence: 67%

The Hidden Robot: An Efficient Concept Contributing to the Analysis of the Controllability of Parallel Robots in Advanced Visual Servoing Techniques

Briot¹,

Martinet

Rosenzveig³

2015

IEEE Trans. Robot.

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Previous works on parallel robots have shown that their visual servoing using the observation of their leg directions was possible. There were however found two main results for which no answer was given. These results were that (i) the observed robot which is composed of n legs could be controlled in most cases using the observation of only m leg directions (m < n), and that (ii) in some cases, the robot did not converge to the desired end-effector pose, even if the observed leg directions did (i.e. there was not a global diffeomorphism between the observation space and the robot space). Recently, it was shown that the visual servoing of the leg directions of the Gough-Stewart platform and the Adept Quattro was equivalent to controlling other virtual robots that have assembly modes and singular configurations different from those of the real ones. These hidden robot models are tangible visualizations of the mapping between the observation space and the real robots Cartesian space. Thanks to this concept, all the aforementioned points pertaining to the studied robots were answered. In this paper, the concept of the hidden robot model is generalized for any type of parallel robots controlled using visual servos based on the observation of elements other than the endeffector, such as the robot legs into motion. It is shown that the concept of the hidden robot model is a powerful tool that gives useful insights about the visual servoing of robots and that it helps define the necessary features to observe in order to ensure the controllability of the robot in its whole workspace. All theoretical concepts are validated through simulations with an Adams mockup linked to Simulink.

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Section: Introductionsupporting

confidence: 67%

The Hidden Robot: An Efficient Concept Contributing to the Analysis of the Controllability of Parallel Robots in Advanced Visual Servoing Techniques

Briot¹,

Martinet

Rosenzveig³

2015

IEEE Trans. Robot.

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“…There are many papers that propose the kinematics of the parallel manipulator using the geometric relationship only. [5][6][7] In this paper, the inverse kinematics of a quattro-parallel manipulator is derived as the vector formulation.…”

Section: Kinematics and Dynamics Of An Aerial Parallel Manipulatormentioning

confidence: 99%

Development of a Vision-enabled Aerial Manipulator using a Parallel Robot

Cho

Shim

2017

AEROSPACE TECHNOLOGY JAPAN

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In this paper, we propose a novel type of aerial manipulation. The system proposed utilizes an eye-in-hand type of parallel manipulator with a visual sensor system attached on the end-effector. The aerial parallel manipulator can maximize the advantages of the serial manipulator while minimizing the combined shortcomings. In order to enhance these advantages, we derive the loosely coupled end-effector dynamics and apply them in the host vehicle utilizing a simple control law. Furthermore, we propose a vision-enabled end-effector control architecture based on the inverse kinematics of the parallel robot. The system proposed is verified and validated by performing a flight test.

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“…It should be noticed that, in several cases for robots with a lower mobility, the last joint should be changed so that, if the number of observed legs is inferior to the number of real legs, the hidden robot keeps the same mobility (see [12]). Moreover, we have presented above the most general methodology, but not the most elegant.…”

Section: How To Define the Legs Of The Hidden Robotsmentioning

confidence: 99%

“…In many cases, a hidden robot leg architecture can be obtained such that less modifications w.r.t the real leg are achieved. For example, for the Quattro [12] made of R-{2-UU} legs for which the parallelogram links are observed ({2-UU} subchain links), the R-PPP chain of the hidden robot leg (which is indeed a{R-PPP}-{2-UU} leg) could be fully-equivalently replaced by a planar parallelogram (Π joint) [12].…”

Section: How To Define the Legs Of The Hidden Robotsmentioning

confidence: 99%

“…If the initial and final robot configurations are not included in the same aspect [11], the robot will not be able to converge to the desired pose, but to a pose that corresponds to another assembly mode that has the same leg directions as the desired final pose (e.g. see [6,12]). Point 3: The interaction matrix M T involved in the controller is the inverse kinematic matrix of the hidden robot (and, consequently, M T + is the hidden robot kinematic matrix) which, is most of cases, is not free of singularities.…”

Section: How Analyzing the Controllability Of The Servoed Robotsmentioning

confidence: 99%

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The Hidden Robot Concept: A Tool for Control Analysis and Robot Control-Based Design

Briot

Rosenzveig

Martinet

2014

Advances in Robot Kinematics

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Exteroceptive sensors can be used to estimate the robot pose in order to suppress inaccuracies coming from the accumulation of modelling errors when using the classical control approach. In some cases, it is impossible to directly observe the end-effector. Thus we can replace it efficiently by the observation of the legs directions. However, with such an approach, unusual results were recorded, namely: (i) the possibility of controlling the robot by observing a limited number of legs, and (ii) in some cases, the robot does not converge to the desired end-effector pose, even if the observed leg did. These results can be explained through the use of the hidden robot concept, which is a tangible visualisation of the mapping between the observed leg direction space and Cartesian space. In the present paper, it is explained (1) why the tools used in mechanical design can be efficently applied in control analysis via the use of the hidden robot concept which is, in our opinion, a way to unify the analysis of the mechanical and control performances and (2) why we believe that the hidden robot concept must be used to modify the robot design methodologies in order to include control-based performance indices.

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Minimal representation for the control of the Adept Quattro with rigid platform via leg observation considering a hidden robot model

Cited by 12 publications

References 15 publications

The Hidden Robot: An Efficient Concept Contributing to the Analysis of the Controllability of Parallel Robots in Advanced Visual Servoing Techniques

The Hidden Robot: An Efficient Concept Contributing to the Analysis of the Controllability of Parallel Robots in Advanced Visual Servoing Techniques

Development of a Vision-enabled Aerial Manipulator using a Parallel Robot

The Hidden Robot Concept: A Tool for Control Analysis and Robot Control-Based Design

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