scholarly journals Design of Robot Vision Servo Control System Based on Image

2021 ◽  
Vol 2136 (1) ◽  
pp. 012049
Author(s):  
Guansheng Xing ◽  
Weichuan Meng
Keyword(s):  
Control System ◽  
Robot Control ◽  
Decisive Role ◽  
Working Environment ◽  
Image Feature ◽  
Visual Servo ◽  
Visual Sensor ◽  
Loop Control ◽  
Main Research ◽  
Intelligent Robots

Abstract Visual servo is a closed-loop control system of robot, which takes the image information obtained by visual sensor as feedback. Generally speaking, visual servo plays an important role in robot control, which is one of the main research directions in the field of robot control and plays a decisive role in the development of intelligent robots. In order to make the robot competent for more complex tasks and work more intelligently, autonomously and reliably, it is necessary not only to improve the control system of the robot, but also to obtain more and better information about the working environment of the robot. This paper introduces the principle and basic realization method of robot visual servo based on image, and expounds the problems and solutions in image feature extraction and visual servo controller design. In order to further expand the application field of robots and improve the operation performance of robots, robots must have higher intelligence level and stronger adaptability to the environment, so as to manufacture intelligent robots that can replace human labor.

Application and Simulation of Single Neuron PID in IBVS

2012 ◽  
Vol 220-223 ◽  
pp. 1221-1225
Author(s):  
Jie Dong ◽  
Li Zhang
Keyword(s):  
Robot Control ◽  
Single Neuron ◽  
Research Field ◽  
Servo Control ◽  
Visual Servo ◽  
Intelligent Algorithm ◽  
Visual Sensor ◽  
Visual Servo Control ◽  
Single Neuron Pid ◽  
Fuzzy Adaptive

Visual servo control is one of the central issues in the research field of intelligent robot. In order to obtain more effective information from the environment, visual sensor is used in robot control. This paper mainly studies the application of intelligent algorithm in visual controller. Through the simulation comparison between Single neuron PID and Fuzzy adaptive PID which are introduced to IBVS, we can find that the proposed method could get better effect in convergence and fast performance.

Design of Two-Wheeled Self-Balancing Robot Control System

2014 ◽  
Vol 1044-1045 ◽  
pp. 774-777
Author(s):  
Jing Li ◽  
Wei Zhang ◽  
Bing Xu
Keyword(s):  
Control System ◽  
Angular Velocity ◽  
System Design ◽  
Robot Control ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Loop Control ◽  
The Core ◽  
Balancing Robot ◽  
Attitude Sensor

The main controller STM32F103VET6 was used as the core of the system. The change of angle and angular velocity was detected by accelerometer and gyroscope built-in six axis attitude sensor MPU6050. The double closed-loop control was used to regulate the speed of DC motor JGA25-371, so as to adjust the posture of the robot. Test shows that the whole system design is simple, good stability and anti-jamming.

Combined Temperature and Force Control for Robotic Friction Stir Welding

2013 ◽  
Author(s):  
Axel Fehrenbacher ◽  
Christopher B. Smith ◽  
Neil A. Duffie ◽  
Nicola J. Ferrier ◽  
Frank E. Pfefferkorn ◽  
...  
Keyword(s):  
Control System ◽  
Force Control ◽  
Closed Loop ◽  
Interface Temperature ◽  
Closed Loop Control ◽  
Weld Quality ◽  
Loop Control ◽  
Friction Stir ◽  
Tool Position ◽  
Robotic Friction Stir Welding

The objective of this research is to develop a closed-loop control system for robotic friction stir welding (FSW) that simultaneously controls force and temperature in order to maintain weld quality under various process disturbances. FSW is a solid-state joining process enabling welds with excellent metallurgical and mechanical properties, as well as significant energy consumption and cost savings compared to traditional fusion welding processes. During FSW, several process parameter and condition variations (thermal constraints, material properties, geometry, etc.) are present. The FSW process can be sensitive to these variations, which are commonly present in a production environment; hence, there is a significant need to control the process to assure high weld quality. Reliable FSW for a wide range of applications will require closed-loop control of certain process parameters. A linear multi-input-multi-output process model has been developed that captures the dynamic relations between two process inputs (commanded spindle speed and commanded vertical tool position) and two process outputs (interface temperature and axial force). A closed-loop controller was implemented that combines temperature and force control on an industrial robotic FSW system. The performance of the combined control system was demonstrated with successful command tracking and disturbance rejection. Within a certain range, desired axial forces and interface temperatures are achieved by automatically adjusting the spindle speed and the vertical tool position at the same time. The axial force and interface temperature is maintained during both thermal and geometric disturbances and thus weld quality can be maintained for a variety of conditions in which each control strategy applied independently could fail.

scholarly journals Control system of 4-DOF palletizing robot based on improved R control multi-objective trajectory planning

2021 ◽  
Vol 13 (4) ◽  
pp. 168781402110027
Author(s):  
Jianqiang Wang ◽  
Yanmin Zhang ◽  
Xintong Liu
Keyword(s):  
Control System ◽  
Trajectory Planning ◽  
Robot Control ◽  
Machining Process ◽  
Planning System ◽  
Positioning Accuracy ◽  
Multi Objective ◽  
Planning Algorithm ◽  
Function Testing ◽  
Robot Control System

To realize efficient palletizing robot trajectory planning and ensure ultimate robot control system universality and extensibility, the B-spline trajectory planning algorithm is used to establish a palletizing robot control system and the system is tested and analyzed. Simultaneously, to improve trajectory planning speeds, R control trajectory planning is used. Through improved algorithm design, a trajectory interpolation algorithm is established. The robot control system is based on R-dominated multi-objective trajectory planning. System stack function testing and system accuracy testing are conducted in a production environment. During palletizing function testing, the system’s single-step code packet time is stable at approximately 5.8 s and the average evolutionary algebra for each layer ranges between 32.49 and 45.66, which can save trajectory planning time. During system accuracy testing, the palletizing robot system’s repeated positioning accuracy is tested. The repeated positioning accuracy error is currently 10−1 mm and is mainly caused by friction and the machining process. By studying the control system of a four-degrees-of-freedom (4-DOF) palletizing robot based on the trajectory planning algorithm, the design predictions and effects are realized, thus providing a reference for more efficient future palletizing robot design. Although the working process still has some shortcomings, the research has major practical significance.

An Expert Controller Based on Transient Response Patterns

2011 ◽  
Vol 219-220 ◽  
pp. 3-7
Author(s):  
Ning Zhang ◽  
Rong Hua Liu
Keyword(s):  
Control System ◽  
Transient Response ◽  
Closed Loop ◽  
Performance Criterion ◽  
Response Patterns ◽  
Loop Control ◽  
Expert Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Control Decision

An expert control system based on transient response patterns and expert system techniques is proposed in this paper. Depending on the features of the closed-loop control system determines the control decision and adjusts the parameters of the controller. The proposed method requires minimal proper information about the controlled plant and, with the linear re-excitation learning method, the system is kept satisfying the performance criterion.

scholarly journals Closed-loop control system for well-defined oxygen supply in micro-physiological systems

2017 ◽  
Vol 3 (2) ◽  
pp. 363-366
Author(s):  
Tobias Steege ◽  
Mathias Busek ◽  
Stefan Grünzner ◽  
Andrés Fabían Lasagni ◽  
Frank Sonntag
Keyword(s):  
Control System ◽  
Oxygen Supply ◽  
Closed Loop ◽  
Microfluidic System ◽  
Closed Loop Control ◽  
Loop Control ◽  
Cell Vitality ◽  
Closed Loop Control System ◽  
Loop Control System

AbstractTo improve cell vitality, sufficient oxygen supply is an important factor. A deficiency in oxygen is called Hypoxia and can influence for example tumor growth or inflammatory processes. Hypoxia assays are usually performed with the help of animal or static human cell culture models. The main disadvantage of these methods is that the results are hardly transferable to the human physiology. Microfluidic 3D cell cultivation systems for perfused hypoxia assays may overcome this issue since they can mimic the in-vivo situation in the human body much better. Such a Hypoxia-on-a-Chip system was recently developed. The chip system consists of several individually laser-structured layers which are bonded using a hot press or chemical treatment. Oxygen sensing spots are integrated into the system which can be monitored continuously with an optical sensor by means of fluorescence lifetime detection.Hereby presented is the developed hard- and software requiered to control the oxygen content within this microfluidic system. This system forms a closed-loop control system which is parameterized and evaluated.

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