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  • 标题:Uncalibrated Neuro-Visual Servoing Control for Multiple Robot Arms
  • 作者:Rodolfo García-Rodríguez ; Pablo Zegers
  • 期刊名称:International Journal of Advanced Robotic Systems
  • 印刷版ISSN:1729-8806
  • 电子版ISSN:1729-8814
  • 出版年度:2013
  • 卷号:10
  • 期号:9
  • 页码:318
  • DOI:10.5772/52374
  • 语种:English
  • 出版社:SAGE Publications
  • 摘要:Diverse image-based tracking schemes for a robot moving in free motion have been proposed and experimentally validated. However, few visual servoing schemes have addressed the tracking of the desired trajectory and the contact forces for multiple robot arms. The main difficulty stems from the fact that camera information cannot be used to drive force trajectories. Recognizing this fact, a unique error manifold that includes position-velocity and force errors in orthogonal complements is proposed. A synergistic scheme that fuses camera, encoder and force sensor signals into a unique error manifold allows proposing a control system which guarantees exponential tracking errors under parametric uncertainty. Additionally a small neural network driven by a second order sliding mode surface is derived to compensate robot dynamics. Residual errors that arise because of the finite size of the neural network are compensated via an orthogonalized second order sliding mode. The performance of the proposed scheme, in two significant applications of the multiple robot arms, is validated through numerical simulations.
  • 关键词:Multiple Robot Arms; Constrained Visual Servoing; Neural Networks; Second Order Sliding Mode Control; Jacobian Uncertainty
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