A Hybrid Switched Reactive-Based Visual Servo Control of 5-DOF Robot Manipulators for Pick-and-Place Tasks
學年 103
學期 1
出版（發表）日期 2014-10-13
作品名稱 A Hybrid Switched Reactive-Based Visual Servo Control of 5-DOF Robot Manipulators for Pick-and-Place Tasks
作品名稱（其他語言）
著者 Tsai, Chi-Yi; Wong, Ching-Chang; Yu, Chia-Jun; Liu, Chih-Cheng; Liu, Tsung-Yen
單位 淡江大學電機工程學系
出版者 Piscataway: Institute of Electrical and Electronics Engineers
著錄名稱、卷期、頁數 IEEE SYSTEMS JOURNAL 9(1), pp.119-130
摘要 This paper addresses the problem of visual servo control for a five-degree-of-freedom robot manipulator to perform pick-and-place tasks. A new hybrid switched reactive-based visual servo control structure, inspired from a sensing-and-reaction behavior without the inverse interaction matrix computing, is proposed to handle this problem efficiently. The proposed structure is similar to the logic-based approaches, but the requirements of the fuzzy modeling and/or the fuzzy-rule base learning are omitted. To achieve this, a novel hardware-aware reactive function approach is presented to directly map an image position error vector to a desired end-effector velocity vector under the consideration of hardware limitations. This approach helps to simplify the implementation of visual servo systems with improved reliability. Moreover, the proposed control system is a hybrid switching controller consisting of both image-based and position-based reactive planning schemes, which allows improving the robustness and effectiveness of the visual servo system. Experimental results validate the performance of the proposed visual servo control method in a realistic scenario setting.
關鍵字 Hardware-aware reactive function;pick-andplace manipulation;reactive-based control;robot manipulator,visual servo control
語言 en_US
ISSN 1937-9234
期刊性質 國外
收錄於 SCI EI
產學合作
通訊作者
審稿制度 是
國別 USA
公開徵稿
出版型式 ,電子版,紙本
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