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Visual trajectory tracking of industrial manipulator with iterative learning control

industrial ROBOT-AN INTERNATIONAL JOURNAL 2015年第1期42卷 54-63页

作者： Jia, Bingxi Liu, Shan Liu, Yi Zhejiang Univ Dept Control Sci & Engn Hangzhou 310003 Zhejiang Peoples R China

Purpose - The purpose of this paper is to propose a more efficient strategy, which is easier to implement, i.e. the engineer can directly operate the target object without the robot to do a demonstration, and the manipulator is regulated to track the trajectory using vision feedback repetitively. Generally, the applications of industrial robotic manipulators are based on teaching playback strategy, i.e. the engineer should directly operate the manipulator to perform a demonstration and then the manipulator uses the recorded driving signals to perform repetitive tasks. Design/methodology/approach - In the teaching process, the engineer grasps the object with a camera on it to do a demonstration, during which a series of images are recorded. The desired trajectory is defined by the homography between the images captured at current and final poses. Tracking error is directly defined by the homography matrix, without 3D reconstruction. Model-free feedback-assisted iterative learning control.strategy is used for repetitive tracking, where feed-forward control.signal is generated by iterative learning control.strategy and feedback control.signal is generated by direct feedback control. Findings - The proposed framework is able to perform precise trajectory tracking by iterative learning, and is model-free so that the singularity problem is avoided which often occurs in conventional Jacobean-based visual servo systems. Besides, the framework is robust to image noise, which is shown in simulations and experiments. Originality/value - The proposed framework is model-free, so that it is more flexible for industrial use and easier to implement. Satisfactory tracking performance can be achieved in the presence of image noise. System convergence is analyzed and experiments are provided for evaluation.

关键词： Homography-based Trajectory tracking Feedback-assisted Iterative learning control

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The System Design and Evaluation of a 7-DOF Image-Guided Venipuncture Robot

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IEEE TRANSACTIONS ON roboticS 2015年第4期31卷 1044-1053页

作者： Balter, Max L. Chen, Alvin I. Maguire, Timothy J. Yarmush, Martin L. Rutgers State Univ Dept Biomed Engn Piscataway NJ 08854 USA VascuLogic LLC Piscataway NJ 08854 USA Massachusetts Gen Hosp Ctr Engn Med Boston MA 02108 USA

Accessing the venous bloodstream to deliver fluids or obtain a blood sample is the most common clinical routine practiced in the U.S. Practitioners continue to rely on manual venipuncture techniques, but success rates are heavily dependent on clinician skill and patient physiology. In the U.S., failure rates can be as high as 50% in difficult patients, making venipuncture the leading cause of medical injury. To improve the rate of first-stick success, we have developed a portable autonomous venipuncture device that robotically servos a needle into a suitable vein under image guidance. The device operates in real time, combining near-infrared and ultrasound imaging, image analysis, and a 7-degree-of-freedom (DOF) robotic system to perform the venipuncture. The robot consists of a 3-DOF gantry to image the patient's peripheral forearm veins and a miniaturized 4-DOF serial arm to guide the cannula into the selected vein under closed-loop control. In this paper, we present the system architecture of the robot and evaluate the accuracy and precision through tracking, free-space positioning, and in vitro phantom cannulation experiments. The results demonstrate sub-millimeter accuracy throughout the operating workspace of the manipulator and a high rate of success when cannulating phantom veins in a skin-mimicking tissue model.

关键词： Computer vision kinematics mechanism design medical robots and systems visual servoing

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Implementation of two cameras to robotic cell for recognition of components

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11th International Conference on industrial, Service and Humanoid robotics (ROBTEP 2012)

作者： Sukop, Marek Tech Univ Kosice Fac Mech Engn Dept Prod Syst & Robot Kosic 04200 Slovakia

ISBN: (纸本)9783037856031

This paper describes the proposal and implementation of two camera sensor system used in combination with SCARA robot for sorting process control. Theoretical basics of 3D camera sensor evaluation and options for mutual camera placement are included. The paper is focused on sensor system components selection and implementation specifics for particular robotic system as well. Sensor system uses OMRON vision Mate control.er for basic image recognition and PC for resulting data processing of specific points three dimensional position calculation.

关键词： Sorting process 3D camera systems SCARA

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SYROCO 2012 Preprints - 10th IFAC Symposium on Robot control

SYROCO 2012 Preprints - 10th IFAC Symposium on Robot Control

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10th IFAC Symposium on Robot control. SYROCO 2012

ISBN: (纸本)9783902823113

The proceedings contain 145 papers. The topics discussed include: anti-windup adaptive law for Euler-Lagrange systems with actuator saturation;modeling of a three wheeled omnidirectional robot including friction models;a novel polypyrrole-based sensor for robotics applications;specification of robotic systems on an example of visual servoing*;neuro-fuzzy control.with a novel training method based-on sliding mode control.theory: application to tractor dynamics;dynamic collision avoidance of industrial cooperating robots using virtual force fields;back ips performed by humanoid robots based on extended linear inverted pendulum mode;HUMI - a mobile robot for landmine detection;a discrete-time design of time delay control.focus on control.experimentations of coordinated motion control.of hydraulic excavator;and automatic decision system for the structure of vision-force robotic control.

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industrial robotic System with Adaptive control

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Procedia Computer Science 2012年 12卷 164-169页

作者： Marko Švaco Bojan Šekoranja Bojan Jerbić Faculty of Mechanical Engineering and Naval Architecture Ivana Lučića 5 10000 Zagreb Croatia

In this paper an adaptive multiagent robotic assembly system is presented. State of the art industrial equipment is utilized to perform various assembly tasks in a highly unstructured environment without the need for central control. The emphasis is given to the developed methods that address particular issues in such robotic assembly systems. Close collaboration and intertwined work with human operators is one application under development, possible due to complex sensorial inputs on the robots. Active voice commands and prompts additionally contribute to human-robot interaction. Encounter with unknown objects is another issue that has been addressed and can be solved autonomously for simple case scenarios. Actual assembly applications as well as applications under development are presented. The operation in unstructured environments has been facilitated with vision systems, F/T sensors and other sensorial devices.

关键词： Multiagent systems robotic assembly human-robot interaction

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MARVEL: A wireless Miniature Anchored robotic Videoscope for Expedited Laparoscopy

MARVEL: A wireless Miniature Anchored Robotic Videoscope for...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Cristian A. Castro Sara Smith Adham Alqassis Thomas Ketterl Yu Sun Sharona Ross Alexander Rosemurgy Peter P. Savage Richard D. Gitlin the Electrical Engineering Department University Of South Florida Tampa FL USA Industrial Engineering Department University Of South Florida Tampa FL USA Electrical Engineering Department University Of South Florida Tampa FL USA Computer Science Engineering Department University Of South Florida Tampa FL USA Sharona Ross is with the College of Medicine University Of South Florida Tampa FL USA Surgical Director Center for Digestive Disorders Tampa General Hospital Tampa FL USA Co-CEO of Innovatia Medical Systems LLC St. Petersburg FL

This paper describes the design and implementation of a Miniature Anchored robotic Videoscope for Expedited Laparoscopy (MARVEL) and Camera Module (CM) that features wireless communications and control. The CM decreases the surgical-tool bottleneck experienced by surgeons in state-of-the art Laparoscopic Endoscopic Single-Site (LESS) procedures for minimally invasive abdominal surgery. The system includes: (1) a near-zero latency video wireless communications link, (2) a pan/tilt camera platform, actuated by two motors that provides surgeons a full hemisphere field of view inside the abdominal cavity, (3) a small wireless camera, (4) a wireless illumination control.system, and (5) a wireless human-machine interface (HMI) to control.the CM. An in-vivo experiment on a porcine subject was carried out to test the performance of the system. The robotic design is a Research Platform for a broad range of experiments in a range of domains for faculty and students in the Colleges of Engineering and Medicine and at Tampa General Hospital. This research is the first step in developing semi-autonomous wirelessly control.ed and networked laparoscopic devices to enable a paradigm shift in minimally invasive surgery and other domains such as Wireless Body Area Networks.

关键词： Wireless communication Cameras Surgery Communication system security Light emitting diodes Robot vision systems Wireless sensor networks

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A multiagent framework for industrial robotic applications

A multiagent framework for industrial robotic applications

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Conference of the Complex Adaptive systems on Responding to Continuous Global Change in systems Needs

作者： Svaco, Marko Sekoranja, Bojan Jerbic, Bojan Fac Mech Engn & Naval Architecture Zagreb 10000 Croatia

The paper presents a novel approach toward modeling and governing complex system behavior in flexible and adaptive robotic assembly systems. A fully distributed multiagent approach is implemented for autonomous control. The system is defined at multiple levels of granularity where agents provide services in respect to the current global goal. A decentralized multiagent approach is adopted for reasons of flexibility and fault tolerance embedded in the design phase. To prove the concept a robotic application for intelligent assembly is presented and discussed. It consists of multiple industrial robots equipped with force/torque sensors, 2D and 3D vision systems, automatic tool changers and other sensors and actuators. Through fusion of sensory input and mutual communication agents construct and negotiate an assembly plan and reconfigure respectively. (C) 2011 Published by Elsevier B. V.

关键词： Distributed robotic systems Multiagent systems Assembly technology

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Robust Visual Servoing of a Robot Arm Using Artificial Immune System and Adaptive control.

Robust Visual Servoing of a Robot Arm Using Artificial Immun...

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作者： Carrasco Elizalde,Alejandro. University of Calgary

学位级别：Doctor

vision systems greatly enhance the capabilities of robots and allow them to be applied to complex tasks within dynamic environments. In this thesis, we explore the problem of control.ing a robotic arm using image-based servoing in a monocular eye-in-hand configuration. Specifically, we develop a visual servoing system capable of tracking non-planar objects in the presence of uncertainties in both the robotic arm and the visual system. To track selected features of a target object, we propose a feature extraction algorithm that behaves as an immune systems. We evaluate the performance of our artificial immune system for three object representations: template, histogram and contour, and we show that the AIS can track multiple features under affine transformations and nonlinear distortions. We then develop an image-based visual servoing control.that is robust to parametric uncertainties in the robot model and camera calibrations. We use the LaSalles invariance principle to prove the stability of the system and that the tracking error approaches zero if the uncertainty is bounded. Simulations verify the robustness of the system. To implement the visual servoing system on an experimental robot, we design an open-architecture control.er to replace the industrial control.er of a PUMA robot. We then compare the performance and robustness of the proposed control.versus that of a proportional control.and a quasi-newton adaptive control.under a variety of test conditions. We conclude that the proposed control.has the best performance of the three control. tested.

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vision based collision avoidance of industrial robots

Vision based collision avoidance of industrial robots

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作者： Winkler, Alexander Suchý, Jozef Department of Robotic Systems Chemnitz University of Technology 09107 Chemnitz Germany

ISBN: (纸本)9783902661937

This article presents an approach to collision avoidance of industrial robots. It is based on the method of artificial potential or force fields. The field is generated by virtual charges which are placed on obstacles. The virtual force acts on the robot which results in the modification of the manipulator path to avoid collisions. Robot path modification is performed by means of impedance control. The positions of the obstacles are determined continuously by image processing using a simple USB camera, therefore collision avoidance is also able to deal with moving obstacles, e.g. other manipulators. All algorithms are implemented with a real robot system and experimental results are presented. © 2011 IFAC.

关键词： Collision avoidance

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Robust Visual Servoing of a Robot Arm Using Artificial Immune System and Adaptive control

Robust Visual Servoing of a Robot Arm Using Artificial Immun...

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作者： Carrasco Elizalde, Alejandro University of Calgary (Canada)

学位级别：Ph.D.

vision systems greatly enhance the capabilities of robots and allow them to be applied to complex tasks within dynamic environments. In this thesis, we explore the problem of control.ing a robotic arm using image-based servoing in a monocular eye-in-hand configuration. Specifically, we develop a visual servoing system capable of tracking non-planar objects in the presence of uncertainties in both the robotic arm and the visual system. To track selected features of a target object, we propose a feature extraction algorithm that behaves as an immune systems. We evaluate the performance of our artificial immune system for three object representations: template, histogram and contour, and we show that the AIS can track multiple features under affine transformations and nonlinear distortions. We then develop an image-based visual servoing control.that is robust to parametric uncertainties in the robot model and camera calibrations. We use the LaSalle's invariance principle to prove the stability of the system and that the tracking error approaches zero if the uncertainty is bounded. Simulations verify the robustness of the system. To implement the visual servoing system on an experimental robot, we design an open-architecture control.er to replace the industrial control.er of a PUMA robot. We then compare the performance and robustness of the proposed control.versus that of a proportional control.and a quasi-newton adaptive control.under a variety of test conditions. We conclude that the proposed control.has the best performance of the three control. tested.

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