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    题名: A Hybrid Switched Reactive-Based Visual Servo Control of 5-DOF Robot Manipulators for Pick-and-Place Tasks
    作者: Tsai, Chi-Yi;Wong, Ching-Chang;Yu, Chia-Jun;Liu, Chih-Cheng;Liu, Tsung-Yen
    贡献者: 淡江大學電機工程學系
    关键词: Hardware-aware reactive function;pick-andplace manipulation;reactive-based control;robot manipulator, visual servo control
    日期: 2015-03-03
    上传时间: 2015-03-19 23:03:11 (UTC+8)
    出版者: Piscataway: Institute of Electrical and Electronics Engineers
    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.
    關聯: IEEE SYSTEMS JOURNAL 9(1), pp.119-130
    DOI: 10.1109/JSYST.2014.2358876
    显示于类别:[電機工程學系暨研究所] 期刊論文

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