A VISUAL SERVOING ARCHITECTURE USING PREDICTIVE CONTROL FOR A PUMA560 ROBOT

Paulo Ferreira, João C. Pinto

Abstract

A control system for a six degrees freedom Puma robot using a Visual Servoing architecture is presented. Two different predictive controllers, GPC and MPC, are used. A comparison between these two ones and the classical PI controller is performed. In this system the camera is placed on the robot’s end-effector and the goal is to control the robot pose to follow a target. A control law based on features extracted from camera images is used. Simulation results show that the strategy works well and that visual servoing predictive control is faster than a PI control.

References

  1. Bemporad, A. and M. Morari 1999. Robust Model Predictive Control: A Survey. Automatic Control Laboratory, Swiss Federal Institute of Technology(ETH) Physikstrass
  2. Camacho, E. F. and C. Bordons 1999. Model Predictive Control. Springer Berlin
  3. Clarke, D.W., C.Mohtafi, and P.S.Tuffs. Generalized Predictive Control-Part I. The Basic Algorithm, Automatica, Vol.23, Nº2, pp.137-148
  4. Corke, P. 1996. Visual Control of Robots. Willey
  5. Corke, P. 1994. A Search for Consensus Among Model Parameters Reported for the Puma 560 In Proc. IEEE Int. Conf.. Robotics and Automation, pages 1608-1613, San Diego.
  6. Ferreira, P. e Caldas, P. (2003). 3D and 2D Visual servoing Architectures for a PUMA 560 Robot, in Proceedings of the 7th IFAC Symposium on Robot Control, September 1-3, , pp 193-198.
  7. Gangloff, J. 1999. Asservissements visuel rapides D' un Robot manipulateur à six degrés de liberté. Thèse de Doutorat de L' Université Louis Pasteur.
  8. Lee, J.H,. and B. Cooley-Recent advances in model predictive control.In:Chemical Process Control, Vol.93, no. 316. pp201-216b. AIChe Syposium Series - American Institute of Chemical Engineers.
  9. Mezouar, Y. and F. Chaumette 2001. Images Interpolation for Image- Based control Under Large Displacements. Proceedings of the European Control Conference, pp. 2904-2909.
Download


Paper Citation


in Harvard Style

Ferreira P. and C. Pinto J. (2004). A VISUAL SERVOING ARCHITECTURE USING PREDICTIVE CONTROL FOR A PUMA560 ROBOT . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 475-478. DOI: 10.5220/0001147204750478


in Bibtex Style

@conference{icinco04,
author={Paulo Ferreira and João C. Pinto},
title={A VISUAL SERVOING ARCHITECTURE USING PREDICTIVE CONTROL FOR A PUMA560 ROBOT},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={475-478},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001147204750478},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A VISUAL SERVOING ARCHITECTURE USING PREDICTIVE CONTROL FOR A PUMA560 ROBOT
SN - 972-8865-12-0
AU - Ferreira P.
AU - C. Pinto J.
PY - 2004
SP - 475
EP - 478
DO - 10.5220/0001147204750478