Knowledge Commons of Institute of Automation,CAS
Robotic Inserting a Moving Object using Visual-based Control with Time-Delay Compensator | |
Jianhua Su1,2; Lili Wang1,2; Chuankai Liu3; Hong Qiao1,2 | |
发表期刊 | IEEE Transactions on Industrial Informatics |
2023-06 | |
页码 | 1 - 11 |
摘要 | Tracking-and-inserting a moving peg using a robot manipulator is a challenging task in manufacturing. In the past decades, various visual-based methods have been proposed for robotic manipulating static targets, which usually ignore the time delay in robot command transmission and image processing. However, for tracking and inserting a moving peg, time delays cannot be overlooked because they can reduce the tracking performance and even cause manipulations to fail. In this paper, a robot visual-based control with a time-delay compensator is presented to solve the problem of inserting a moving peg. The time-delay compensator was designed using RBFNNs, a feedback compensator aimed at eliminating the tracking errors caused by the time delays. Thus, we could manipulate a moving object using a commercial industry robot, even with the time-variant delays in the control loop. Furthermore, the visual-based controller with the pseudo-inverse image Jacobian matrix was designed using a linearization model. Thus, the matrix could be efficiently updated using the model. In the experiment, we inserted a peg into a moving hole using an eye-in-hand robot with precision. |
DOI | 10.1109/TII.2023.3282320 |
收录类别 | SCI |
WOS记录号 | WOS:001129379200005 |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 实体人工智能系统决策-控制 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/52208 |
专题 | 多模态人工智能系统全国重点实验室 |
作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学 3.北京飞行控制中心 |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Jianhua Su,Lili Wang,Chuankai Liu,et al. Robotic Inserting a Moving Object using Visual-based Control with Time-Delay Compensator[J]. IEEE Transactions on Industrial Informatics,2023:1 - 11. |
APA | Jianhua Su,Lili Wang,Chuankai Liu,&Hong Qiao.(2023).Robotic Inserting a Moving Object using Visual-based Control with Time-Delay Compensator.IEEE Transactions on Industrial Informatics,1 - 11. |
MLA | Jianhua Su,et al."Robotic Inserting a Moving Object using Visual-based Control with Time-Delay Compensator".IEEE Transactions on Industrial Informatics (2023):1 - 11. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Robotic_Inserting_a_(1359KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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