Controle de Manipulador Redundante Utilizando Realimentação Visual
In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references generated by this mapping are utilized for dynamic control in joint space. Thus, the end-effector position is, in fact, co...
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| Tipo de recurso: | tesis de maestría |
| Estado: | Versión publicada |
| Fecha de publicación: | 2002 |
| País: | Brasil |
| Institución: | Universidade Federal do Rio Grande do Norte (UFRN) |
| Repositorio: | Repositório Institucional da UFRN |
| Idioma: | portugués |
| OAI Identifier: | oai:repositorio.ufrn.br:123456789/15426 |
| Acceso en línea: | https://repositorio.ufrn.br/jspui/handle/123456789/15426 |
| Access Level: | acceso abierto |
| Palabra clave: | Manipulador Redundante Realimentação Visual Controle Servo-visão Redundant Manipulator Visual Feedback Control Servo-vision CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA |
| Sumario: | In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references generated by this mapping are utilized for dynamic control in joint space. Thus, the end-effector position is, in fact, controlled indirectly, in open-loop, and the accuracy of grip position control directly depends on the accuracy of the available kinematic model. In this report, a new scheme for redundant manipulator kinematic control, based on visual servoing is proposed. In the proposed system, a robot image acquired through a CCD camera is processed in order to compute the position and orientation of each link of the robot arm. The robot task is specified as a temporal sequence of reference images of the robot arm. Thus, both the measured pose and the reference pose are specified in the same image space, and its difference is utilized to generate a cartesian space error for kinematic control purposes. The proposed control scheme was applied in a four degree-of-freedom planar redundant robot arm, experimental results are shown |
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