A Hybrid Switched Reactive-Based Visual Servo Control of 5-DOF Robot Manipulators for Pick-and-Place Tasks

doi:10.1109/JSYST.2014.2358876

淡江大學機構典藏 > 工學院 > 電機工程學系暨研究所 > 期刊論文 > Item 987654321/101015

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題名:	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
貢獻者:	淡江大學電機工程學系
關鍵詞:	Hardware-aware reactive function;pick-andplace manipulation;reactive-based control;robot manipulator,visual servo control
日期:	2014-10
上傳時間:	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
顯示於類別:	[電機工程學系暨研究所] 期刊論文

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