Real-time visual predictive control of manipulation systems

Author

Burlacu, Adrian ; Copot, Cosmin ; Cervera, Enric ; Lazar, Corneliu

Author_Institution

Dept. of Autom. Control & Appl. Inf., Tech. Univ. of Iasi, Iasi, Romania

fYear

2011

fDate

20-23 June 2011

Firstpage

383

Lastpage

388

Abstract

This paper presents the results obtained by visual predictive control laws in real-time visual servoing architectures. A key role when designing a stable image based control law is played by the visual features, and thus both points and image moments were considered and their performance revealed. A 6 d.o.f manipulator robot with an eye-in-configuration is used to design a visual servoing architecture and realtime implementation using Matlab is described. The results of different experiments for planar static objects are presented and discussed. For establishing the performance of visual predictive control laws a comparison with classical image based control laws is conducted.

Keywords

dexterous manipulators; feature extraction; predictive control; real-time systems; robot vision; visual servoing; Matlab; degree of freedom; eye-in-conflguration; image moments; planar static objects; real-time architecture; robot manipulator; visual features; visual predictive control; visual servoing; Cameras; Computer architecture; Feature extraction; Joints; Visual servoing; Visualization;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics (ICAR), 2011 15th International Conference on

Conference_Location

Tallinn

Print_ISBN

978-1-4577-1158-9

Type

conf

DOI

10.1109/ICAR.2011.6088610

Filename

6088610