Towards Components-of-Interest Feedback Control and State Estimation of Robotic Manipulator

Lyu，Erli1; Zhang，Zhengyan1; Wang，Jiaole1; Song，Shuang1; Meng，Max Q.H.2,3,4

10.1109/ROBIO54168.2021.9739325

2021

978-1-6654-0536-2

2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

539-544

27-31 Dec. 2021

Sanya, China

Closed-loop methods are commonly used in manipulator motion planning field to remove errors in joint encoders. Compared to placing markers on both manipulator and obstacles, the method that tracks the robot arm using point cloud data does not rely on calibration of the relative pose between the marker and the end-effector. In this paper, instead of tracking the entire arm, we focus on the components-of-interest (COI), which is the robot end-effector and the obstacle in the collision avoidance task. Since by tracking the endeffector it is not possible to directly get the states of other joints, two methods of solving these problems are proposed, namely visual servoing with nominal Jacobian method and inverse kinematic update method. Experiments demonstrate that tracking the COI can obtain a more accurate end-effector pose compared to tracking the entire arm and the proposed methods can successfully achieve the expect goals.

Closed-loop method Inverse kinematics update Point cloud Robot COI tracking

其他

英语

EI

20221611977661

Closed loop control systems ; Inverse kinematics ; Inverse problems ; Manipulators ; Motion planning ; Robot programming ; State estimation ; Visual servoing

Computer Programming:723.1 ; Control Systems:731.1 ; Robotics:731.5 ; Mechanics:931.1 ; Systems Science:961

2-s2.0-85128228808

Scopus

1.Harbin Institute of Technology (Shenzhen),School of Mechanical Engineering and Automation,Shenzhen,518055,China
2.Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China
3.Department of Electronic and Electrical Engineering,Chinese University of Hong Kong,Hong Kong,Hong Kong
4.Shenzhen Research Institute,Chinese University of Hong Kong,Shenzhen,China

Lyu，Erli,Zhang，Zhengyan,Wang，Jiaole,et al. Towards Components-of-Interest Feedback Control and State Estimation of Robotic Manipulator[C],2021:539-544.