A Novel Velocity-Based Control in a Sensor Space for Parallel Manipulators Article Swipe
Antonio Loredo
,
Mauro Maya
,
Alejandro González
,
Antonio Cárdenas
,
Emilio J. González-Galván
,
Davide Piovesan
·
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.3390/s22197323
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.3390/s22197323
It is a challenging task to track objects moving along an unknown trajectory. Conventional model-based controllers require detailed knowledge of a robot’s kinematics and the target’s trajectory. Tracking precision heavily relies on kinematics to infer the trajectory. Control implementation in parallel robots is especially difficult due to their complex kinematics. Vision-based controllers are robust to uncertainties of a robot’s kinematic model since they can correct end-point trajectories as error estimates become available. Robustness is guaranteed by taking the vision sensor’s model into account when designing the control law. All camera space manipulation (CSM) models in the literature are position-based, where the mapping between the end effector position in the Cartesian space and sensor space is established. Such models are not appropriate for tracking moving targets because the relationship between the target and the end effector is a fixed point. The present work builds upon the literature by presenting a novel CSM velocity-based control that establishes a relationship between a movable trajectory and the end effector position. Its efficacy is shown on a Delta-type parallel robot. Three types of experiments were performed: (a) static tracking (average error of 1.09 mm); (b) constant speed linear trajectory tracking—speeds of 7, 9.5, and 12 cm/s—(tracking errors of 8.89, 11.76, and 18.65 mm, respectively); (c) freehand trajectory tracking (max tracking errors of 11.79 mm during motion and max static positioning errors of 1.44 mm once the object stopped). The resulting control cycle time was 48 ms. The results obtained show a reduction in the tracking errors for this robot with respect to previously published control strategies.
Related Topics
Concepts
Kinematics
Trajectory
Control theory (sociology)
Robustness (evolution)
Robot end effector
Computer science
Cartesian coordinate system
Computer vision
Artificial intelligence
Robot
Position (finance)
Tracking (education)
Mathematics
Control (management)
Physics
Geometry
Economics
Finance
Astronomy
Classical mechanics
Gene
Psychology
Pedagogy
Chemistry
Biochemistry
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/s22197323
- https://www.mdpi.com/1424-8220/22/19/7323/pdf?version=1664272319
- OA Status
- gold
- Cited By
- 3
- References
- 40
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4297491418
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4297491418Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/s22197323Digital Object Identifier
- Title
-
A Novel Velocity-Based Control in a Sensor Space for Parallel ManipulatorsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2022Year of publication
- Publication date
-
2022-09-27Full publication date if available
- Authors
-
Antonio Loredo, Mauro Maya, Alejandro González, Antonio Cárdenas, Emilio J. González-Galván, Davide PiovesanList of authors in order
- Landing page
-
https://doi.org/10.3390/s22197323Publisher landing page
- PDF URL
-
https://www.mdpi.com/1424-8220/22/19/7323/pdf?version=1664272319Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
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https://www.mdpi.com/1424-8220/22/19/7323/pdf?version=1664272319Direct OA link when available
- Concepts
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Kinematics, Trajectory, Control theory (sociology), Robustness (evolution), Robot end effector, Computer science, Cartesian coordinate system, Computer vision, Artificial intelligence, Robot, Position (finance), Tracking (education), Mathematics, Control (management), Physics, Geometry, Economics, Finance, Astronomy, Classical mechanics, Gene, Psychology, Pedagogy, Chemistry, BiochemistryTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
3Total citation count in OpenAlex
- Citations by year (recent)
-
2024: 2, 2023: 1Per-year citation counts (last 5 years)
- References (count)
-
40Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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