FPGA-based architecture for direct visual control robotic systems

Please use this identifier to cite or link to this item: http://hdl.handle.net/10045/61912
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Title: FPGA-based architecture for direct visual control robotic systems
Authors: Alabdo, Aiman | Pérez Alepuz, Javier | Garcia, Gabriel J. | Pomares, Jorge | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Embedded software | Visual servoing | Robot control | Parallel architectures | Reconfigurable architectures
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: Nov-2016
Publisher: Elsevier
Citation: Mechatronics. 2016, 39: 204-216. doi:10.1016/j.mechatronics.2016.05.008
Abstract: This paper describes a whole new framework to quickly develop dynamic visual servoing systems embedded in an FPGA. Parallel design of algorithms increases the precision of this kind of controller, while minimizing the response time. Additionally, a control framework to dynamically visual control robot arms is proposed. The direct image-based visual controllers derived from the framework allow for tracking trajectories obtaining different dynamic behaviors depending on a weighting matrix. A new method to compensate the chaos behavior of this kind of system is also included in the proposed framework. To exemplify the feasibility of the FPGA-based proposed framework, and to demonstrate the effects of the metrics, some of the derived controllers are evaluated during the tracking of image trajectories.
Sponsor: This research is supported by the Spanish Ministry of Economy, the European FEDER funds, the Valencia Regional Government and the University of Alicante through the research projects DPI2015- 68087-R, PROMETEO/2013/085 and GRE12-17.
URI: http://hdl.handle.net/10045/61912
ISSN: 0957-4158 (Print) | 1873-4006 (Online)
DOI: 10.1016/j.mechatronics.2016.05.008
Language: eng
Type: info:eu-repo/semantics/article
Rights: © 2016 Elsevier Ltd.
Peer Review: si
Publisher version: http://dx.doi.org/10.1016/j.mechatronics.2016.05.008
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