Predictive control architecture for real-time image moments based servoing of robot manipulators
- Author
- Adrian Burlacu, Cosmin Copot (UGent) and Corneliu Lazar
- Organization
- Abstract
- This paper presents a real-time architecture for visual servoing of robot manipulators using nonlinear based predictive control. In order to increase the robustness of the control algorithm, image moments were chosen to be the visual features which describe the objects from the image. A visual predictive architecture is designed to solve tasks addressed to robot manipulators with an eye-in-hand configuration. An implementation of the proposed architecture is done so that the capabilities of a 6 d.o.f robot manipulator are extended. The results of different experiments conducted with two types of image moments based controllers (proportional and predictive with reference trajectory) are presented and discussed.
- Keywords
- Predictive control, OBJECTS, Robot vision, Industrial robots
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Citation
Please use this url to cite or link to this publication: http://hdl.handle.net/1854/LU-5804337
- MLA
- Burlacu, Adrian, et al. “Predictive Control Architecture for Real-Time Image Moments Based Servoing of Robot Manipulators.” JOURNAL OF INTELLIGENT MANUFACTURING, vol. 25, no. 5, 2014, pp. 1125–34, doi:10.1007/s10845-013-0743-0.
- APA
- Burlacu, A., Copot, C., & Lazar, C. (2014). Predictive control architecture for real-time image moments based servoing of robot manipulators. JOURNAL OF INTELLIGENT MANUFACTURING, 25(5), 1125–1134. https://doi.org/10.1007/s10845-013-0743-0
- Chicago author-date
- Burlacu, Adrian, Cosmin Copot, and Corneliu Lazar. 2014. “Predictive Control Architecture for Real-Time Image Moments Based Servoing of Robot Manipulators.” JOURNAL OF INTELLIGENT MANUFACTURING 25 (5): 1125–34. https://doi.org/10.1007/s10845-013-0743-0.
- Chicago author-date (all authors)
- Burlacu, Adrian, Cosmin Copot, and Corneliu Lazar. 2014. “Predictive Control Architecture for Real-Time Image Moments Based Servoing of Robot Manipulators.” JOURNAL OF INTELLIGENT MANUFACTURING 25 (5): 1125–1134. doi:10.1007/s10845-013-0743-0.
- Vancouver
- 1.Burlacu A, Copot C, Lazar C. Predictive control architecture for real-time image moments based servoing of robot manipulators. JOURNAL OF INTELLIGENT MANUFACTURING. 2014;25(5):1125–34.
- IEEE
- [1]A. Burlacu, C. Copot, and C. Lazar, “Predictive control architecture for real-time image moments based servoing of robot manipulators,” JOURNAL OF INTELLIGENT MANUFACTURING, vol. 25, no. 5, pp. 1125–1134, 2014.
@article{5804337,
abstract = {{This paper presents a real-time architecture for visual servoing of robot manipulators using nonlinear based predictive control. In order to increase the robustness of the control algorithm, image moments were chosen to be the visual features which describe the objects from the image. A visual predictive architecture is designed to solve tasks addressed to robot manipulators with an eye-in-hand configuration. An implementation of the proposed architecture is done so that the capabilities of a 6 d.o.f robot manipulator are extended. The results of different experiments conducted with two types of image moments based controllers (proportional and predictive with reference trajectory) are presented and discussed.}},
author = {{Burlacu, Adrian and Copot, Cosmin and Lazar, Corneliu}},
issn = {{0956-5515}},
journal = {{JOURNAL OF INTELLIGENT MANUFACTURING}},
keywords = {{Predictive control,OBJECTS,Robot vision,Industrial robots}},
language = {{eng}},
location = {{Bucharest, Romania}},
number = {{5}},
pages = {{1125--1134}},
title = {{Predictive control architecture for real-time image moments based servoing of robot manipulators}},
url = {{http://doi.org/10.1007/s10845-013-0743-0}},
volume = {{25}},
year = {{2014}},
}
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