Visual Motion Observer-Based Bilateral Control for Eye-in-Hand Mobile Robot Teleoperation

被引：0
|
作者：
Murao, Toshiyuki [1 ]
Kawai, Hiroyuki [2 ]
Tsuruo, Yusei [2 ]
Fujita, Masayuki [3 ]
机构：
[1] Adv Inst Ind Technol, Master Program Innovat Design & Engn, Tokyo 1400011, Japan
[2] Kanazawa Inst Technol, Dept Robot, Kanazawa, Ishikawa 9218501, Japan
[3] Tokyo Inst Technol, Dept Mech & Control Engn, Tokyo 1528550, Japan
来源：
2013 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA) | 2013年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper investigates, as a first step for visual feedback bilateral control, visual motion observer-based bilateral attitude and position control for eye-in-hand mobile robot teleoperation systems. Firstly, visual motion observers for eye-in-hand mobile robots are presented. Then, a visual motion observer-based bilateral and coordination control laws for attitude maneuvers are proposed. Moreover, visual motion observer-based bilateral position control and stability analysis are presented. The main contribution of this paper is to show that the bilateral control framework in which teleoperation systems utilize visual information to obtain the relative poses of the master and slave robots can be provided based on passivity. Finally, the effectiveness of the proposed framework is verified through computer simulations and experiments.
引用
收藏
页码：623 / 630
页数：8
相关论文
共 50 条
  • [1] Observer-based control of bilateral teleoperation with time delay
    Zhu, Tianlin
    Zhang, Yijun
    2018 5TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CONTROL ENGINEERING (ICISCE 2018), 2018, : 859 - 863
  • [2] Eye-in-Hand Visual Servoing Control of Robot Manipulators Based on an Input Mapping Method
    He, Shaoying
    Xu, Yunwen
    Li, Dewei
    Xi, Yugeng
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2023, 31 (01) : 402 - 409
  • [3] Robust control of an eye-in-hand robot based on affine models
    Conticelli, F
    Allotta, B
    PROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1998, : 955 - 956
  • [4] Eye-in-Hand/Eye-to-Hand Configuration for a WMRA Control Based on Visual Servoing
    Elarbi-Boudihir, M.
    Al-Shalfan, Khalid A.
    2013 IEEE 11TH INTERNATIONAL WORKSHOP OF ELECTRONICS, CONTROL, MEASUREMENT, SIGNALS AND THEIR APPLICATION TO MECHATRONICS (ECMSM), 2013,
  • [5] PLG-Based Visual Tracing for Eye-in-Hand Puma 560 Robot
    Hu, Wen-qiang
    Tian, Kai
    Sun, Rong-Lei
    INTELLIGENT ROBOTICS AND APPLICATIONS, PROCEEDINGS, 2009, 5928 : 897 - +
  • [6] A Dynamic Visual Servoing of Robot Manipulator with Eye-in-hand Camera
    Bae, Sang-Hyeon
    Kim, Eun-Jin
    Yang, Seon-Je
    Park, Jong-Koo
    Kuc, Tae-Yong
    2018 INTERNATIONAL CONFERENCE ON ELECTRONICS, INFORMATION, AND COMMUNICATION (ICEIC), 2018, : 439 - 442
  • [7] Exploring motion control for three-dimensional object recognition based on eye-in-hand visual servoing
    Ichikawa, Mariko
    Motoki, Satoshi
    Shibata, Masaaki
    IEEJ Transactions on Industry Applications, 2006, 126 (06) : 726 - 731
  • [8] Eye-In-Hand Uncalibrated Visual Servoing of Concentric Tube Robot
    Zhang, Kehe
    Yang, Xing
    Wang, Jie
    Song, Shuang
    Meng, Max Q. H.
    2020 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (IEEE-RCAR 2020), 2020, : 233 - 238
  • [9] Observer-Based Trajectory Tracking Control for a Wheeled Mobile Robot
    Koo, Jahoo
    Choi, Seungjoon
    Won, Sangchul
    ASCC: 2009 7TH ASIAN CONTROL CONFERENCE, VOLS 1-3, 2009, : 1644 - 1649
  • [10] Convolutional Neural Network-Based Robot Control for an Eye-in-Hand Camera
    Guo, Jia
    Nguyen, Huu-Thiet
    Liu, Chao
    Cheah, Chien Chern
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2023, 53 (08): : 4764 - 4775
12345