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2020 | OriginalPaper | Chapter

Stabilization of the Underactuated Robot on the Visual Trajectory

Author : Ruslan Sevostyanov

Published in: Convergent Cognitive Information Technologies

Publisher: Springer International Publishing

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Abstract

The article considers the problem of moving and stabilizing underactuated wheeled robot on the visual curve in the motion plane. The curve is detected by the video camera mounted on the robot. The task is solved with the help of the approach named visual servoing which uses the visual information in the feedback. The aim of the visual serving is to minimize the difference between desired and the actual position of the set of the points on the image. The main feature of the proposed solution is considering a number of requirements to the robot’s dynamic including the reaction on the presence of the external disturbances. Thereby the regulators of special kind called multipurpose structure are used which makes possible to decompose the basic set of requirements into smaller independent tasks. Additional complication is the underactuated nature of the considered robot. Efficiency of the derived regulator is shown through the experiments with computer model.

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Literature
3.
go back to reference Sotnikova, M.V.: Algorithm for visual path following by wheeled fully actuated robot [in Russian]. In: Vestnik Sankt-Peterburgskogo Universiteta. Seriya 10. Prikladnaya Matematika. Informatika. Protsessy Upravleniya, no. 1, pp. 99–108 (2016) Sotnikova, M.V.: Algorithm for visual path following by wheeled fully actuated robot [in Russian]. In: Vestnik Sankt-Peterburgskogo Universiteta. Seriya 10. Prikladnaya Matematika. Informatika. Protsessy Upravleniya, no. 1, pp. 99–108 (2016)
4.
go back to reference Carona, R., Aguiar, A.P., Gaspar, J.: Control of unicycle type robots: tracking, path following and point stabilization. In: Proceedings of IV Jornadas de Engenharia de Electronica e Telecomunicacoes e de Computadores, pp. 180–185. ISEL, Lisbon (2008) Carona, R., Aguiar, A.P., Gaspar, J.: Control of unicycle type robots: tracking, path following and point stabilization. In: Proceedings of IV Jornadas de Engenharia de Electronica e Telecomunicacoes e de Computadores, pp. 180–185. ISEL, Lisbon (2008)
Metadata
Title
Stabilization of the Underactuated Robot on the Visual Trajectory
Author
Ruslan Sevostyanov
Copyright Year
2020
DOI
https://doi.org/10.1007/978-3-030-37436-5_22

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