Optimal Image-Based Guidance of Mobile Manipulators using Direct Visual Servoing
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Título: | Optimal Image-Based Guidance of Mobile Manipulators using Direct Visual Servoing |
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Autor/es: | Belmonte, Álvaro | Ramón, José L. | Pomares, Jorge | Garcia, Gabriel J. | Jara, Carlos A. |
Grupo/s de investigación o GITE: | Human Robotics (HURO) |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Palabras clave: | Visual servoing | Optimal control | Mobile manipulator | Dynamic control |
Área/s de conocimiento: | Ingeniería de Sistemas y Automática |
Fecha de publicación: | 27-mar-2019 |
Editor: | MDPI |
Cita bibliográfica: | Belmonte Á, Ramón JL, Pomares J, Garcia GJ, Jara CA. Optimal Image-Based Guidance of Mobile Manipulators using Direct Visual Servoing. Electronics. 2019; 8(4):374. doi:10.3390/electronics8040374 |
Resumen: | This paper presents a direct image-based controller to perform the guidance of a mobile manipulator using image-based control. An eye-in-hand camera is employed to perform the guidance of a mobile differential platform with a seven degrees-of-freedom robot arm. The presented approach is based on an optimal control framework and it is employed to control mobile manipulators during the tracking of image trajectories taking into account robot dynamics. The direct approach allows us to take both the manipulator and base dynamics into account. The proposed image-based controllers consider the optimization of the motor signals sent to the mobile manipulator during the tracking of image trajectories by minimizing the control force and torque. As the results show, the proposed direct visual servoing system uses the eye-in-hand camera images for concurrently controlling both the base platform and robot arm. The use of the optimal framework allows us to derive different visual controllers with different dynamical behaviors during the tracking of image trajectories. |
Patrocinador/es: | This research was supported by the Valencia Regional Government through project GV/2018/050. |
URI: | http://hdl.handle.net/10045/90415 |
ISSN: | 2079-9292 |
DOI: | 10.3390/electronics8040374 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Derechos: | © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
Revisión científica: | si |
Versión del editor: | https://doi.org/10.3390/electronics8040374 |
Aparece en las colecciones: | INV - HURO - Artículos de Revistas |
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2019_Belmonte_etal_Electronics.pdf | 516,71 kB | Adobe PDF | Abrir Vista previa | |
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