Task Space Control of Robot Manipulators based on Visual SLAM
This paper aims to address the open problem of designing a globally stable vision-based controller for robot manipulators. Accordingly, based on a hybrid mechanism, this paper proposes a novel task-space control law attained by taking the gradient of a potential function in SE(3). The key idea is to employ the Visual Simultaneous Localization and Mapping (VSLAM) algorithm to estimate a robot pose. The estimated robot pose is then used in the proposed hybrid controller as feedback information. Invoking Barbalats lemma and Lyapunov's stability theorem, it is guaranteed that the resulting closed-loop system is globally asymptotically stable, which is the main accomplishment of the proposed structure. Simulation studies are conducted on a six degrees of freedom (6-DOF) robot manipulator to demonstrate the effectiveness and validate the performance of the proposed VSLAM-based control scheme.
Code (0)
등록된 구현이 없습니다.
Tasks
LEMMASimultaneous Localization and MappingSimilar Papers 제목 키워드 기반
Hybrid Controller for Robot Manipulators in Task-Space with Visual-Inertial Feedback
This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. I…
Velocity-free task-space regulator for robot manipulators with external disturbances
This paper addresses the problem of task-space robust regulation of robot manipulators subject to external disturbances. A velocity-free control law is proposed by combining the internal model principle and the passivity…
3D Shape Control of Extensible Multi-Section Soft Continuum Robots via Visual Servoing
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the lit…
House of Dextra: Cross-embodied Co-design for Dexterous Hands
Dexterous manipulation is limited by both control and design, without consensus as to what makes manipulators best for performing dexterous tasks. This raises a fundamental challenge: how should we design and control rob…
A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators
We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot manipulators focus primarily on collaborat…
Contact-rich Manipulation