Visual control with adaptive dynamical compensation for 3D target tracking by mobile manipulators

Víctor Andaluz; Ricardo Carelli; Lucio R. Salinas; Juan Marcos Toibero; Flavio Roberti

doi:10.1016/j.mechatronics.2011.09.013

Visual control with adaptive dynamical compensation for 3D target tracking by mobile manipulators

Víctor Andaluz^*, Ricardo Carelli, Lucio R. Salinas, Juan Marcos Toibero, Flavio Roberti

^*Corresponding author for this work

Research output: Contribution to journal › Article (Academic Journal) › peer-review

23 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	491-502
Number of pages	12
Journal	Mechatronics
Volume	22
Issue number	4
DOIs	https://doi.org/10.1016/j.mechatronics.2011.09.013
Publication status	Published - 1 Jun 2012

Keywords

3D target tracking
Mobile manipulator
Stability analysis
Visual control

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title = "Visual control with adaptive dynamical compensation for 3D target tracking by mobile manipulators",

abstract = "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.",

keywords = "3D target tracking, Mobile manipulator, Stability analysis, Visual control",

author = "V{\'i}ctor Andaluz and Ricardo Carelli and Salinas, \{Lucio R.\} and Toibero, \{Juan Marcos\} and Flavio Roberti",

year = "2012",

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T1 - Visual control with adaptive dynamical compensation for 3D target tracking by mobile manipulators

AU - Andaluz, Víctor

AU - Carelli, Ricardo

AU - Salinas, Lucio R.

AU - Toibero, Juan Marcos

AU - Roberti, Flavio

PY - 2012/6/1

Y1 - 2012/6/1

N2 - 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.

AB - 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.

KW - 3D target tracking

KW - Mobile manipulator

KW - Stability analysis

KW - Visual control

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DO - 10.1016/j.mechatronics.2011.09.013

M3 - Article (Academic Journal)

AN - SCOPUS:84861092229

SN - 0957-4158

VL - 22

SP - 491

EP - 502

JO - Mechatronics

JF - Mechatronics

IS - 4

ER -

Visual control with adaptive dynamical compensation for 3D target tracking by mobile manipulators

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Keywords

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