Behavioristic image-based pose control of mobile manipulators using an uncalibrated eye-in-hand vision system

Tsing Iuan James Tsay, Pei Jiun Hung

研究成果: Article同行評審

2 引文 斯高帕斯(Scopus)

摘要

In the execution of material handling, the mobile manipulator is controlled to reach a station by its mobile base. This study adopts an uncalibrated eye-in-hand vision system to provide visual information for the manipulator to pick up a workpiece on the station. A novel vision-guided control strategy with a behavior-based look-and-move structure is proposed. This strategy is based on six image features, predefined by image moment method. In the designed neural-fuzzy controllers with varying learning rate, each image feature error is taken to generate intuitively one DOF motion command relative to the camera coordinate frame using fuzzy rules, which define a particular visual behavior. These behaviors are then fused to produce a final command action to perform grasping tasks using the proposed behavior fusion scheme. Finally, the proposed control strategy is experimentally applied to control the end-effector to approach and grasp a workpiece in various locations on a station.

原文English
頁(從 - 到)94-102
頁數9
期刊Artificial Life and Robotics
23
發行號1
DOIs
出版狀態Published - 2018 三月 1

All Science Journal Classification (ASJC) codes

  • 生物化學、遺傳與分子生物學 (全部)
  • 人工智慧

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