Open Access Open Access  Restricted Access Subscription Access

MODELING THE DIFFERENTIAL MOTION OF A MOBILE MANIPULATOR AND DESIGNING A NEW VISUAL SERVOING FOR TRACKING A FLYING TARGET

Hoang Thi Thuong, Nguyen Van Tinh, Nguyen Tien Kiem

Abstract


This article describes the process of modeling the differential motion of a mobile manipulator which is a two-degree-of-freedom robotic arm (pan-tilt) mounted on a wheeled mobile robot (WMR). Next, a new visual servoing is designed for this arm so that the image feature of a target converges to the center of the image plane of a camera which is attached to the arm's end-effector, when not only the target considered as a material point is flying with an unknown trajectory but also the WMR is moving on the floor with another unknown trajectory. The global uniform asymptotic stability of this control method is guaranteed by Lyapunov standard. Simulation results implemented by Matlab-Simulink software confirm both the truth and performance of the entire system.


Keywords


Global uniform asymptotic stability, image feature, mobile manipulator, track a flying target, unkown tracjectory

Full Text:

PDF

References


M. Galicki, “Task space control of mobile manipulators,” Robotica, vol. 29, pp. 221-232, 2011.

M. Galicki, “Collision-free control of mobile manipulators in task space,” Mech. Syst. Signal Process, vol. 25, no. 7, pp. 2766-2784, 2011.

A. Mazur, “Trajectory tracking control in workspace-defined tasks for nonholonomic mobile manipulators,” Robotica, vol. 28, pp. 57-68, 2010.

N. T. Phuong, V. H. Duy, J. H. Jeong, H. K. Kim, and S. B. Kim. “Adaptive control for welding mobile manipulator with unknown dimensional parameters,” Proc. of the IEEE international conf on mechatronics, pp. 1-6, 2007.

B. W. Chi, and F. X. Ke, “Robust control of mobile manipulator service robot using torque compensation,” Proc. of the IEEE international conf on information technology and computer science, pp. 69-72, 2009.

M. Galicki, “An adaptive non-linear constraint control of mobile manipulators,” Mechanism and Machine Theory, vol. 88, pp. 63-85, 2015.

W. J. Wilson, C. C. Williams, and G. S. Bell, “Relative end-effector control using cartesian position based visual servoing,” IEEE Trans. Robot. Autom, vol. 12, no. 5, pp. 684-696, 1996.

E. Malis and P. Rives, “Robustness of image-based visual servoing with respect to depth distribution errors” Proc. of the 2003 IEEE International Conf on Robotics and Automation pp. 1056-1061, 2003.

V. Andaluz, R. Carelli, L. Salinas, J. M. Toibero, F. Roberti, “Visual control with adaptive dynamical compensation for 3D target tracking by mobile manipulators”, Mechatronics vol. 22, pp. 491-502, 2012.

A. D. Luca, G. Oriolo, P. R. Giordano. “Image-based visual servoing schemes for nonholonomic mobile manipulators”, Robotica, vol. 25, no. 2, pp. 131-145. 2007.

S. Hutchinson, G. D. Hager, P. I. Corke, “A Tutorial on Visual Servo Control”, IEEE Trans on Robot and Auto, Vol. 12, No. 5, pp. 651-670, 1996.

F. Chaumette, S. Hutchinson, “Visual Servo Control. Part I: Basic Approaches.” IEEE Robotics and Auto Magaz. Vol. 13, No. 4, pp. 82-90, 2006.

F. Chaumette, S. Hutchinson, “Visual Servo Control. Part II: Advanced Approaches.” IEEE Robotics and Auto Magaz. Vol. 14, No. 1, pp. 109-118, 2007.

F. Bensalah, F. Chaumette, “Compensation of abrupt motion changes in target tracking by visual servoing”, Proc. 1995 IEEE/RSJ Inter Conf on Intel Robots and Syst, pp. 181-187, Aug. 1995.

N. V. Tinh, P. T. Cat, P. M. Tuan, B. T. Quyen, “Visual Control of Integrated Mobile Robot – Pan Tilt – Camera System for Tracking a Moving Target”, Proc. of the 2014 IEEE International Conf on Robotics and Biomimetics, pp. 1566-1571, 2014.

R. P. Paul, B. Shimano, G. E. Mayer, “Differential Kinematic Control Equations for Simple Manipulators”. IEEE Trans on Systems Man an Cybernetics, vol. SMC-11, no. 6, pp. 456-460, 1981.




DOI: https://doi.org/10.15625/1813-9663/33/4/9736

Journal of Computer Science and Cybernetics ISSN: 1813-9663

Published by Vietnam Academy of Science and Technology