Visual Predictive Control of Robotic Arms with Overlapping Workspace

Abstract

This paper deals with multi-arms fruits picking in orchards. More specifically, the goal is to control the arms to approach the fruits position. To achieve this task a VPC strategy has been designed to take into account the dynamic of the environment as well as the various constraints inherent to the mechanical system, visual servoing manipulation and shared workspace. Our solution has been evaluated in simulation using on PR2 arms model. Different models of visual features prediction have been tested and the entire VPC strategy has been run on various cases. The obtained results show the interest and the efficiency of this strategy to perform a fruit picking task.

Simultaneous Control of Two Robotics Arms Sharing Workspace via Visual Predictive Control

“…Then, the expression of each constraint will be defined. A similar approach was presented in [10] for a multi-arm robotic system.…”

“…In this section, one first focuses on the modeling of the system, i.e., the robotic arms, the cameras and the targets [10]. Then, two models to predict the visual feature coordinates of a point are presented [1] [10].…”

“…Thus, this paper addresses the aforementioned points for the specific case of two simultaneously controlled robotic arms. Moreover, it is an extended version of the work presented in [10] which has been complemented with an analysis of the related works, a discussion regarding the terminal constraint and a more comprehensive set of simulation results.…”

“…Quadratic errors of prediction over the simulation -Solid: Global model -Dashed: Local Euler -Dotted: Local Runge Kutta -Black: z -Blue: z * . Source[10]…”

Mobile Robot Navigation in a Cluttered Environment via Visual Predictive Control

“…In Wang et al (2012) and Hajiloo et al (2016), the visual servoing system is represented as a polytopic linear parameter-varying system and offers interesting properties regarding the robustness of the controller. In Flécher et al (2019), the VPC scheme is used to simultaneously control two robotic arms sharing a same workspace. In addition to robotic arms, other systems were considered such as a flying camera in Heshmati-alamdari et al (2014) and Mcfadyen et al (2014), a mobile robot in Ke et al (2017), and a fixed-wing aerial vehicle in Lee et al (2011).…”