scholarly journals Using FPGA Design and HIL Algorithm Simulation to Control Visual Servoing

2018 ◽  
Vol 7 (2) ◽  
pp. 168
Author(s):  
Lway Faisal Abdulrazak ◽  
Zaid A. Aljawary
Keyword(s):  
Object Tracking ◽  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Optimal Solution ◽  
Robot Dynamics ◽  
Fpga Design ◽  
Joint Torques ◽  
Array Technology ◽  
Gate Array ◽  
Set Up

<span lang="EN-US">This is a novel research paper provides an optimal solution for object tracking using visual servoing control system with programmable gate array technology to realize the visual controller. The controller takes in account the robot dynamics to generate the joint torques directly for performing the tasks related to object tracking using visual servoing. Also, the notion of dynamic perceptibility provides the capability of the designed system to track desired objects employing direct visual servoing technique. This idea is assimilated in the suggested controller and realized in the programmable gate array. Additionally, this paper grants an ideal control framework for direct visual servoing robots that incorporates dynamic perceptibility features. With the aim of evaluating the proposed FPGA based architecture, the control algorithm is applied to Hardware-in-the-loop simulation (HIL) set up of three degrees of freedom rigid robotic manipulator with three links. Furthermore, different investigations are performed to demonstrate the behavior of the proposed system when a trajectory adjacent to a singularity is attained.</span>

scholarly journals Using FPGA Design and HIL Algorithm Simulation to Control Visual Servoing

2018 ◽  
Vol 6 (2) ◽  
pp. 111
Author(s):  
Lway Faisal Abdulrazak ◽  
Zaid A. Aljawary
Keyword(s):  
Object Tracking ◽  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Optimal Solution ◽  
Robot Dynamics ◽  
Fpga Design ◽  
Joint Torques ◽  
Array Technology ◽  
Gate Array ◽  
Set Up

<span style="font-size: 9pt; font-family: 'Times New Roman', serif;">This is a novel research paper provides an optimal solution for object tracking using visual servoing control system with programmable gate array technology to realize the visual controller. The controller takes in account the robot dynamics to generate the joint torques directly for performing the tasks related to object tracking using visual servoing. Also, the notion of dynamic perceptibility provides the capability of the designed system to track desired objects employing direct visual servoing technique. This idea is assimilated in the suggested controller and realized in the programmable gate array. Additionally, this paper grants an ideal control framework for direct visual servoing robots that incorporates dynamic perceptibility features. With the aim of evaluating the proposed FPGA based architecture, the control algorithm is applied to Hardware-in-the-loop simulation (HIL) set up of three degrees of freedom rigid robotic manipulator with three links. Furthermore, different investigations are performed to demonstrate the behavior of the proposed system when a trajectory adjacent to a singularity is attained.</span>

Do Arm Postures Vary With the Speed of Reaching?

1999 ◽  
Vol 81 (5) ◽  
pp. 2582-2586 ◽  
Author(s):  
Kiisa C. Nishikawa ◽  
Sara T. Murray ◽  
Martha Flanders
Keyword(s):  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Optimal Solution ◽  
Reaching Movements ◽  
Total Force ◽  
Joint Torques ◽  
Dynamic Factors ◽  
Human Arm ◽  
Wide Range ◽  
Dynamic Forces

Do arm postures vary with the speed of reaching? For reaching movements in one plane, the hand has been observed to follow a similar path regardless of speed. Recent work on the control of more complex reaching movements raises the question of whether a similar “speed invariance” also holds for the additional degrees of freedom. Therefore we examined human arm movements involving initial and final hand locations distributed throughout the three-dimensional (3D) workspace of the arm. Despite this added complexity, arm kinematics (summarized by the spatial orientation of the “plane of the arm” and the 3D curvature of the hand path) changed very little for movements performed over a wide range of speeds. If the total force (dynamic + quasistatic) had been optimized by the control system (e.g., as in a minimization of the change in joint torques or the change in muscular forces), the optimal solution would change with speed; slow movements would reflect the minimal antigravity torques, whereas fast movements would be more strongly influenced by dynamic factors. The speed-invariant postures observed in this study are instead consistent with a hypothesized optimization of only the dynamic forces.

scholarly journals Optimal Image-Based Guidance of Mobile Manipulators using Direct Visual Servoing

Electronics ◽  
2019 ◽  
Vol 8 (4) ◽  
pp. 374 ◽  
Author(s):  
Álvaro Belmonte ◽  
José Ramón ◽  
Jorge Pomares ◽  
Gabriel Garcia ◽  
Carlos Jara
Keyword(s):  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Mobile Manipulator ◽  
Robot Dynamics ◽  
Mobile Manipulators ◽  
Control Force ◽  
Robot Arm ◽  
Dynamical Behaviors ◽  
Control Framework ◽  
Image Trajectories

This paper presents a direct image-based controller to perform the guidance of a mobile manipulator using image-based control. An eye-in-hand camera is employed to perform the guidance of a mobile differential platform with a seven degrees-of-freedom robot arm. The presented approach is based on an optimal control framework and it is employed to control mobile manipulators during the tracking of image trajectories taking into account robot dynamics. The direct approach allows us to take both the manipulator and base dynamics into account. The proposed image-based controllers consider the optimization of the motor signals sent to the mobile manipulator during the tracking of image trajectories by minimizing the control force and torque. As the results show, the proposed direct visual servoing system uses the eye-in-hand camera images for concurrently controlling both the base platform and robot arm. The use of the optimal framework allows us to derive different visual controllers with different dynamical behaviors during the tracking of image trajectories.

scholarly journals Adaptive 3D Visual Servoing of a Scara Robot Manipulator with Unknown Dynamic and Vision System Parameters

Automation ◽  
2021 ◽  
Vol 2 (3) ◽  
pp. 127-140
Author(s):  
Jorge Antonio Sarapura ◽  
Flavio Roberti ◽  
Ricardo Carelli
Keyword(s):  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Moving Objects ◽  
Robot Manipulator ◽  
Vision System ◽  
Robot Dynamics ◽  
Complete Control ◽  
Scara Robot ◽  
Dynamic Controller ◽  
Control Scheme

In the present work, we develop an adaptive dynamic controller based on monocular vision for the tracking of objects with a three-degrees of freedom (DOF) Scara robot manipulator. The main characteristic of the proposed control scheme is that it considers the robot dynamics, the depth of the moving object, and the mounting of the fixed camera to be unknown. The design of the control algorithm is based on an adaptive kinematic visual servo controller whose objective is the tracking of moving objects even with uncertainties in the parameters of the camera and its mounting. The design also includes a dynamic controller in cascade with the former one whose objective is to compensate the dynamics of the manipulator by generating the final control actions to the robot even with uncertainties in the parameters of its dynamic model. Using Lyapunov’s theory, we analyze the two proposed adaptive controllers for stability properties, and, through simulations, the performance of the complete control scheme is shown.

scholarly journals Trajectory control and parameter optimization of plasma robot gun

2020 ◽  
Vol 24 (3 Part A) ◽  
pp. 1819-1825
Author(s):  
Xiaohua Chen ◽  
Zhanshan Wang ◽  
Kailei Liu
Keyword(s):  
Trajectory Optimization ◽  
Degrees Of Freedom ◽  
Fitness Function ◽  
Optimal Solution ◽  
Joint Space ◽  
Working Environment ◽  
Motion Characteristics ◽  
Set Up ◽  
Working Parameters ◽  
Spray Gun

A plasma robot model with redundant freedom is proposed for the shortage of flexibility in the complex working environment of plasma robot. The existence of redundant degrees of freedom leads to the complex motion characteristics of the plasma robot joints. The trajectory of the end of the spray gun is difficult to describe. Therefore, a trajectory optimization algorithm based on fitness function is proposed. In the plasma robot joint space, a parabolic linear fitting is adopted. The error between the actual trajectory and the desired trajectory is taken as fitness function. Genetic algorithm is applied to find the optimal solution for the parameters in trajectory planning. The orthogonal experimental model of the parameters of the plasma spray gun is set up. The optimum working parameters of the spray gun are obtained through the analysis and study of the power, atmospheric pressure and the distance of the gun. Finally, the rationality of the proposed method is proved by simulation and test.

Future Field Programmable Gate Array (FPGA) Design Methodologies and Tool Flows

2008 ◽  
Author(s):  
Michael Wirthlin ◽  
Brent Nelson ◽  
Brad Hutchings ◽  
Peter Athanas ◽  
Shawn Bohner
Keyword(s):  
Field Programmable Gate Array ◽  
Fpga Design ◽  
Design Methodologies ◽  
Field Programmable ◽  
Gate Array

scholarly journals Optimization of Joint Torques of Robot Using Dynamic Redundant Degrees of Freedom.

1992 ◽  
Vol 10 (5) ◽  
pp. 682-688
Author(s):  
Tamio ARAI ◽  
Shih-Hsuan CHIU ◽  
Akira SAIKI ◽  
Hisashi OSUMI
Keyword(s):  
Degrees Of Freedom ◽  
Joint Torques

scholarly journals Optimization of Dynamic Task Location within a Manipulator’s Workspace for the Utilization of the Minimum Required Joint Torques

Electronics ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 288
Author(s):  
Adam Wolniakowski ◽  
Charalampos Valsamos ◽  
Kanstantsin Miatliuk ◽  
Vassilis Moulianitis ◽  
Nikos Aspragathos
Keyword(s):  
High Performance ◽  
Human Robot Interaction ◽  
Optimal Position ◽  
End Effector ◽  
Joint Torques ◽  
Dynamic Task ◽  
Arbitrary Position ◽  
Simulation Results ◽  
Set Up ◽  
Task Placement

The determination of the optimal position of a robotic task within a manipulator’s workspace is crucial for the manipulator to achieve high performance regarding selected aspects of its operation. In this paper, a method for determining the optimal task placement for a serial manipulator is presented, so that the required joint torques are minimized. The task considered comprises the exercise of a given force in a given direction along a 3D path followed by the end effector. Given that many such tasks are usually conducted by human workers and as such the utilized trajectories are quite complex to model, a Human Robot Interaction (HRI) approach was chosen to define the task, where the robot is taught the task trajectory by a human operator. Furthermore, the presented method considers the singular free paths of the manipulator’s end-effector motion in the configuration space. Simulation results are utilized to set up a physical execution of the task in the optimal derived position within a UR-3 manipulator’s workspace. For reference the task is also placed at an arbitrary “bad” location in order to validate the simulation results. Experimental results verify that the positioning of the task at the optimal location derived by the presented method allows for the task execution with minimum joint torques as opposed to the arbitrary position.

scholarly journals Galloping Stability and Wind Tunnel Test of Iced Quad Bundled Conductors considering Wake Effect

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Xiaohui Liu ◽  
Ming Zou ◽  
Chuan Wu ◽  
Mengqi Cai ◽  
Guangyun Min ◽  
...  
Keyword(s):  
Wind Tunnel ◽  
Transmission Lines ◽  
Degrees Of Freedom ◽  
Wind Tunnel Test ◽  
Aerodynamic Coefficients ◽  
Wake Effect ◽  
Aerodynamic Coefficient ◽  
Set Up ◽  
The Stability ◽  
Three Degrees Of Freedom

A new quad bundle conductor galloping model considering wake effect is proposed to solve the problem of different aerodynamic coefficients of each subconductor of iced quad bundle conductor. Based on the quasistatic theory, a new 3-DOF (three degrees of freedom) galloping model of iced quad bundle conductors is established, which can accurately reflect the energy transfer and galloping of quad bundle conductor in three directions. After a series of formula derivations, the conductor stability judgment formula is obtained. In the wind tunnel test, according to the actual engineering situation, different variables are set up to accurately simulate the galloping of iced quad bundle conductor under the wind, and the aerodynamic coefficient is obtained. Finally, according to the stability judgment formula of this paper, calculate the critical wind speed of conductor galloping through programming. The dates of wind tunnel test and calculation in this paper can be used in the antigalloping design of transmission lines.

Industrial Design of Motorcycle with Reference to Indian Population

2014 ◽  
Vol 592-594 ◽  
pp. 2659-2664 ◽  
Author(s):  
T. Jeyakumar ◽  
R. Gandhinathan
Keyword(s):  
Optimal Solution ◽  
Human Model ◽  
Anthropometric Data ◽  
Posture Analysis ◽  
Digital Human Model ◽  
Set Up ◽  
The Aesthetic ◽  
Decision Making Model ◽  
Digital Human ◽  
Data Collection Approach

India is the second largest 2W market in the world in terms of sales volumes after China. Motorcycles types that are marketed using sports tag are found to be anchored on performance attributes characterized by visual appeal, higher speeds, heady acceleration and superior ride, handling and braking. The chronograph of the sports segment in the Indian market is plotted. A goal defined design process is developed to produce creative ideas for aesthetic attributes-modern, youthful, aerodynamic, and aggressive. The optimal solution satisfying the aesthetic goal is determined using an operation decision making model based upon weighted generalized mean method. A motorcycle is generally straddled by the rider with manual transmission and can be considered as a constrained workstation. Some ergonomic considerations to fit users of different sizes on the same workstation should be taken into account when designing. A two-dimensional anthropometric data collection approach is followed for riders in India. The obtained anthropometric data concerning riding postures are used for posture analysis using digital human model in CAD software. The mutual trade-off between sporty riding style of the rider and comfort angles have been arrived to set up the final posture of the rider. The detailing of the appearance considering the aesthetic attributes and ergonomics are done. The developed design is aimed at improving appearance and ergonomic performance.

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