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Journal of Intelligent Manufacturing

Erschienen in:

01.10.2014

Predictive control architecture for real-time image moments based servoing of robot manipulators

verfasst von: Adrian Burlacu, Cosmin Copot, Corneliu Lazar

Erschienen in: Journal of Intelligent Manufacturing | Ausgabe 5/2014

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Abstract

This paper presents a real-time architecture for visual servoing of robot manipulators using nonlinear based predictive control. In order to increase the robustness of the control algorithm, image moments were chosen to be the visual features which describe the objects from the image. A visual predictive architecture is designed to solve tasks addressed to robot manipulators with an eye-in-hand configuration. An implementation of the proposed architecture is done so that the capabilities of a 6 d.o.f robot manipulator are extended. The results of different experiments conducted with two types of image moments based controllers (proportional and predictive with reference trajectory) are presented and discussed.

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Titel: Predictive control architecture for real-time image moments based servoing of robot manipulators
verfasst von: Adrian Burlacu
Cosmin Copot
Corneliu Lazar
Publikationsdatum: 01.10.2014
Verlag: Springer US
Erschienen in: Journal of Intelligent Manufacturing / Ausgabe 5/2014
Print ISSN: 0956-5515
Elektronische ISSN: 1572-8145
DOI: https://doi.org/10.1007/s10845-013-0743-0

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