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
- Institución
- Consejo Nacional de Investigaciones Científicas y Técnicas
- OAI Identificador
- oai:ri.conicet.gov.ar:11336/191993
Ver los metadatos del registro completo
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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 |
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1844613145550651392 |
score |
13.070432 |