Nonlinear Image Based Visual Servoing Using Parallel Robots

Nonlinear Image Based Visual Servoing Using Parallel Robots

This paper considers the control problem of an eye-in-hand type of parallel robot based precision pointing system (PRBPPS) in which the visual sensor is mounted on the platform of the parallel robot. The aim of the control is to move the platform of the parallel robot such that the image feature poi...

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Hauptverfasser: Zhen Qi, McInroy, J.E.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Adaptive control
Control systems
Fuzzy logic
Jacobian matrices
Parallel robots
Programmable control
Sensor systems
Stability
Uncertainty
Visual servoing
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McInroy, J.E.
description This paper considers the control problem of an eye-in-hand type of parallel robot based precision pointing system (PRBPPS) in which the visual sensor is mounted on the platform of the parallel robot. The aim of the control is to move the platform of the parallel robot such that the image feature points reach the desired locations. An adaptive supervisory fuzzy logic controller (ASFLC) is first designed to compensate for the uncertainties of the parallel robot and uncertainty of the image Jacobian, then a hybrid controller (HC) including the image-based nonlinear controller (IBNC) and the ASFLC is derived by using the Lyapunov direct method to realize the precision position regulation (PPR). The stability of the closed-loop system in the Lyapunov sense is proven theoretically. The simulation results demonstrate that the PRBPPS realizes PPR with very good robustness to parameter uncertainties.
doi_str_mv 10.1109/ROBOT.2007.363570
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The aim of the control is to move the platform of the parallel robot such that the image feature points reach the desired locations. An adaptive supervisory fuzzy logic controller (ASFLC) is first designed to compensate for the uncertainties of the parallel robot and uncertainty of the image Jacobian, then a hybrid controller (HC) including the image-based nonlinear controller (IBNC) and the ASFLC is derived by using the Lyapunov direct method to realize the precision position regulation (PPR). The stability of the closed-loop system in the Lyapunov sense is proven theoretically. The simulation results demonstrate that the PRBPPS realizes PPR with very good robustness to parameter uncertainties.</description><identifier>ISSN: 1050-4729</identifier><identifier>ISBN: 1424406013</identifier><identifier>ISBN: 9781424406012</identifier><identifier>EISSN: 2577-087X</identifier><identifier>EISBN: 1424406021</identifier><identifier>EISBN: 9781424406029</identifier><identifier>DOI: 10.1109/ROBOT.2007.363570</identifier><language>eng</language><publisher>IEEE</publisher><subject>Adaptive control ; Control systems ; Fuzzy logic ; Jacobian matrices ; Parallel robots ; Programmable control ; Sensor systems ; Stability ; Uncertainty ; Visual servoing</subject><ispartof>Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007, p.1715-1720</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/4209334$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2056,27923,54918</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/4209334$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Zhen Qi</creatorcontrib><creatorcontrib>McInroy, J.E.</creatorcontrib><title>Nonlinear Image Based Visual Servoing Using Parallel Robots</title><title>Proceedings 2007 IEEE International Conference on Robotics and Automation</title><addtitle>ROBOT</addtitle><description>This paper considers the control problem of an eye-in-hand type of parallel robot based precision pointing system (PRBPPS) in which the visual sensor is mounted on the platform of the parallel robot. 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The aim of the control is to move the platform of the parallel robot such that the image feature points reach the desired locations. An adaptive supervisory fuzzy logic controller (ASFLC) is first designed to compensate for the uncertainties of the parallel robot and uncertainty of the image Jacobian, then a hybrid controller (HC) including the image-based nonlinear controller (IBNC) and the ASFLC is derived by using the Lyapunov direct method to realize the precision position regulation (PPR). The stability of the closed-loop system in the Lyapunov sense is proven theoretically. The simulation results demonstrate that the PRBPPS realizes PPR with very good robustness to parameter uncertainties.</abstract><pub>IEEE</pub><doi>10.1109/ROBOT.2007.363570</doi><tpages>6</tpages></addata></record>
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subjects Adaptive control
Control systems
Fuzzy logic
Jacobian matrices
Parallel robots
Programmable control
Sensor systems
Stability
Uncertainty
Visual servoing
title Nonlinear Image Based Visual Servoing Using Parallel Robots
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