| 標題：A Hybrid Switched Reactive-Based Visual Servo Control of 5-DOF Robot Manipulators for Pick-and-Place Tasks |
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| 學年 | 103 |
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| 學期 | 2 |
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| 出版（發表）日期 | 2015/03/03 |
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| 作品名稱 | A Hybrid Switched Reactive-Based Visual Servo Control of 5-DOF Robot Manipulators for Pick-and-Place Tasks |
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| 作品名稱（其他語言） | |
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| 著者 | Tsai, Chi-Yi; Wong, Ching-Chang; Yu, Chia-Jun; Liu, Chih-Cheng; Liu, Tsung-Yen |
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| 單位 | 淡江大學電機工程學系 |
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| 出版者 | Piscataway: Institute of Electrical and Electronics Engineers |
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| 著錄名稱、卷期、頁數 | IEEE SYSTEMS JOURNAL 9(1), pp.119-130 |
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| 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. |
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| 關鍵字 | Hardware-aware reactive function;pick-andplace manipulation;reactive-based control;robot manipulator, visual servo control |
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| 語言 | 英文(美國) |
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| ISSN | 1937-9234 |
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| 期刊性質 | 國外 |
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| 收錄於 | SCI;EI; |
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| 產學合作 | |
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| 通訊作者 | |
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| 審稿制度 | 是 |
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| 國別 | 美國 |
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| 公開徵稿 | |
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| 出版型式 | ,電子版,紙本 |
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| 相關連結 | |
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