Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile Manipulators

Autores
Andaluz, Víctor; Carelli Albarracin, Ricardo Oscar; Salinas, Lucio Rafael; Toibero, Juan Marcos; Roberti, Flavio
Año de publicación
2012
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
In this paper an image-based dynamic visual feedback control for mobile manipulators is presented to solve the target tracking problem in the 3D-workspace. The design of the whole controller is based on two cascaded subsystems: a minimum norm visual kinematic controller which complies with the 3D target tracking objective, and an adaptive controller that compensates the dynamics of the mobile manipulator. Both the kinematic controller and the adaptive controller are designed to prevent from command saturation. Robot commands are defined in terms of reference velocities. Stability and robustness are proved by using Lyapunov’s method. Finally, experimental results are presented to confirm the effectiveness of the proposed visual feedback controller.
Fil: Andaluz, Víctor. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Salinas, Lucio Rafael. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Toibero, Juan Marcos. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Roberti, Flavio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Materia
3D TARGET TRACKING
MOBILE MANIPULATOR
STABILITY ANALYSIS
VISUAL CONTROL
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/191993

id CONICETDig_98b9d6392e4917605ba85ca165bb4657
oai_identifier_str oai:ri.conicet.gov.ar:11336/191993
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile ManipulatorsAndaluz, VíctorCarelli Albarracin, Ricardo OscarSalinas, Lucio RafaelToibero, Juan MarcosRoberti, Flavio3D TARGET TRACKINGMOBILE MANIPULATORSTABILITY ANALYSISVISUAL CONTROLhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In this paper an image-based dynamic visual feedback control for mobile manipulators is presented to solve the target tracking problem in the 3D-workspace. The design of the whole controller is based on two cascaded subsystems: a minimum norm visual kinematic controller which complies with the 3D target tracking objective, and an adaptive controller that compensates the dynamics of the mobile manipulator. Both the kinematic controller and the adaptive controller are designed to prevent from command saturation. Robot commands are defined in terms of reference velocities. Stability and robustness are proved by using Lyapunov’s method. Finally, experimental results are presented to confirm the effectiveness of the proposed visual feedback controller.Fil: Andaluz, Víctor. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Salinas, Lucio Rafael. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Toibero, Juan Marcos. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Roberti, Flavio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaPergamon-Elsevier Science Ltd2012-06info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/191993Andaluz, Víctor; Carelli Albarracin, Ricardo Oscar; Salinas, Lucio Rafael; Toibero, Juan Marcos; Roberti, Flavio; Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile Manipulators; Pergamon-Elsevier Science Ltd; Mechatronics; 22; 4; 6-2012; 491-5020957-41581873-4006CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S095741581100167Xinfo:eu-repo/semantics/altIdentifier/doi/10.1016/j.mechatronics.2011.09.013info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:36:30Zoai:ri.conicet.gov.ar:11336/191993instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 09:36:31.098CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile Manipulators
title Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile Manipulators
spellingShingle Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile Manipulators
Andaluz, Víctor
3D TARGET TRACKING
MOBILE MANIPULATOR
STABILITY ANALYSIS
VISUAL CONTROL
title_short Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile Manipulators
title_full Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile Manipulators
title_fullStr Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile Manipulators
title_full_unstemmed Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile Manipulators
title_sort Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile Manipulators
dc.creator.none.fl_str_mv Andaluz, Víctor
Carelli Albarracin, Ricardo Oscar
Salinas, Lucio Rafael
Toibero, Juan Marcos
Roberti, Flavio
author Andaluz, Víctor
author_facet Andaluz, Víctor
Carelli Albarracin, Ricardo Oscar
Salinas, Lucio Rafael
Toibero, Juan Marcos
Roberti, Flavio
author_role author
author2 Carelli Albarracin, Ricardo Oscar
Salinas, Lucio Rafael
Toibero, Juan Marcos
Roberti, Flavio
author2_role author
author
author
author
dc.subject.none.fl_str_mv 3D TARGET TRACKING
MOBILE MANIPULATOR
STABILITY ANALYSIS
VISUAL CONTROL
topic 3D TARGET TRACKING
MOBILE MANIPULATOR
STABILITY ANALYSIS
VISUAL CONTROL
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv In this paper an image-based dynamic visual feedback control for mobile manipulators is presented to solve the target tracking problem in the 3D-workspace. The design of the whole controller is based on two cascaded subsystems: a minimum norm visual kinematic controller which complies with the 3D target tracking objective, and an adaptive controller that compensates the dynamics of the mobile manipulator. Both the kinematic controller and the adaptive controller are designed to prevent from command saturation. Robot commands are defined in terms of reference velocities. Stability and robustness are proved by using Lyapunov’s method. Finally, experimental results are presented to confirm the effectiveness of the proposed visual feedback controller.
Fil: Andaluz, Víctor. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Salinas, Lucio Rafael. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Toibero, Juan Marcos. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Roberti, Flavio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
description In this paper an image-based dynamic visual feedback control for mobile manipulators is presented to solve the target tracking problem in the 3D-workspace. The design of the whole controller is based on two cascaded subsystems: a minimum norm visual kinematic controller which complies with the 3D target tracking objective, and an adaptive controller that compensates the dynamics of the mobile manipulator. Both the kinematic controller and the adaptive controller are designed to prevent from command saturation. Robot commands are defined in terms of reference velocities. Stability and robustness are proved by using Lyapunov’s method. Finally, experimental results are presented to confirm the effectiveness of the proposed visual feedback controller.
publishDate 2012
dc.date.none.fl_str_mv 2012-06
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/191993
Andaluz, Víctor; Carelli Albarracin, Ricardo Oscar; Salinas, Lucio Rafael; Toibero, Juan Marcos; Roberti, Flavio; Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile Manipulators; Pergamon-Elsevier Science Ltd; Mechatronics; 22; 4; 6-2012; 491-502
0957-4158
1873-4006
CONICET Digital
CONICET
url http://hdl.handle.net/11336/191993
identifier_str_mv Andaluz, Víctor; Carelli Albarracin, Ricardo Oscar; Salinas, Lucio Rafael; Toibero, Juan Marcos; Roberti, Flavio; Visual Control with Adaptive Dynamical Compensation for 3D Target Tracking by Mobile Manipulators; Pergamon-Elsevier Science Ltd; Mechatronics; 22; 4; 6-2012; 491-502
0957-4158
1873-4006
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S095741581100167X
info:eu-repo/semantics/altIdentifier/doi/10.1016/j.mechatronics.2011.09.013
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Pergamon-Elsevier Science Ltd
publisher.none.fl_str_mv Pergamon-Elsevier Science Ltd
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1844613145550651392
score 13.070432