Control dinámico de manipuladores móviles con realimentación visual

  1. José L. Ramón 1
  2. Álvaro Belmonte
  3. Jorge Pomares 1
  4. Gabriel J. García 1
  5. Carlos A. Jara 1
  6. Andrés Úbeda 1
  7. Ester Abad 2
  8. María Ángeles Rueda 2
  1. 1 Universitat d'Alacant
    info

    Universitat d'Alacant

    Alicante, España

    ROR https://ror.org/05t8bcz72

  2. 2 Hospital de San Vicente del Raspeig
Livre:
XL Jornadas de Automática: libro de actas. Ferrol, 4-6 de septiembre de 2019
  1. Jose Luis Calvo Rolle (coord.)
  2. Jose Luis Casteleiro Roca (coord.)
  3. María Isabel Fernández Ibáñez (coord.)
  4. Óscar Fontenla Romero (coord.)
  5. Esteban Jove Pérez (coord.)
  6. Alberto José Leira Rejas (coord.)
  7. José Antonio López Vázquez (coord.)
  8. Vanesa Loureiro Vázquez (coord.)
  9. María Carmen Meizoso López (coord.)
  10. Francisco Javier Pérez Castelo (coord.)
  11. Andrés José Piñón Pazos (coord.)
  12. Héctor Quintián Pardo (coord.)
  13. Juan Manuel Rivas Rodríguez (coord.)
  14. Benigno Rodríguez Gómez (coord.)
  15. Rafael Alejandro Vega Vega (coord.)

Éditorial: Servizo de Publicacións ; Universidade da Coruña

ISBN: 978-84-9749-716-9

Année de publication: 2019

Pages: 779-786

Congreso: Jornadas de Automática (40. 2019. Ferrol)

Type: Communication dans un congrès

DIALNET GOOGLE SCHOLAR lock_openRUC editor

Résumé

This paper proposes a direct image-based visual servoing system for the guidance of a mobile manipulator. The robot is composed of a mobile differential platform with a 7 dof (degrees of freedom) arm and an eye-in-hand camera. As described throughout the paper, the visual information is employed to guide both the robot manipulator and the base platform for the tracking of image trajectories. In contrast with previous approaches, the one proposed in this paper employs a direct visual servoing system for guiding mobile manipulators. In this case, the controller directly generates the torques (force and moments) to be applied to the manipulator and base platform taking into account the robot dynamics. This paper describes the different kinematic and dynamic components of the proposed controller and it is validated during the tracking of repetitive and nonrepetitive image trajectories

La source de données: Dialnet