Visual-admittance-based model predictive control for nuclear collaborative robots
This paper presents a novel visual-admittance-based model predictive control scheme to cope with the problem of vision/force control and several constraints of a nuclear collaborative robotic visual servoing system. A visual-admittance model considering the desired image feature and force command in...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2023-06-01
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| Series: | Frontiers in Energy Research |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fenrg.2023.1203904/full |
| _version_ | 1797796769671675904 |
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| author | Jun Qi Jun Qi Jun Qi Zhao Xu Jiru Chu Minglei Zhu Yunlong Teng |
| author_facet | Jun Qi Jun Qi Jun Qi Zhao Xu Jiru Chu Minglei Zhu Yunlong Teng |
| author_sort | Jun Qi |
| collection | DOAJ |
| description | This paper presents a novel visual-admittance-based model predictive control scheme to cope with the problem of vision/force control and several constraints of a nuclear collaborative robotic visual servoing system. A visual-admittance model considering the desired image feature and force command in the image feature space is proposed. Moreover, a novel constraint scheme of the model predictive control (MPC) is proposed to cancel the overshoot in the interaction force control for most cases by taking the desired force command as the constraint of the proposed MPC. Via applying the robotic dynamic image-based visual servoing (IBVS) model, some other constraints, such as the actuator saturation, joint angle, and visual limits, can be satisfied simultaneously. The simulation results for the two-degrees-of-freedom (DOF) robot manipulator with an eye-to-hand camera are present to demonstrate the effectiveness of the proposed controller. |
| first_indexed | 2024-03-13T03:38:03Z |
| format | Article |
| id | doaj.art-0271921abc3244d993ad00b94aabf3ed |
| institution | Directory Open Access Journal |
| issn | 2296-598X |
| language | English |
| last_indexed | 2024-03-13T03:38:03Z |
| publishDate | 2023-06-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Energy Research |
| spelling | doaj.art-0271921abc3244d993ad00b94aabf3ed2023-06-23T13:09:46ZengFrontiers Media S.A.Frontiers in Energy Research2296-598X2023-06-011110.3389/fenrg.2023.12039041203904Visual-admittance-based model predictive control for nuclear collaborative robotsJun Qi0Jun Qi1Jun Qi2Zhao Xu3Jiru Chu4Minglei Zhu5Yunlong Teng6China Nuclear Power Engineering Co., Ltd., Beijing, ChinaSchool of Automation, Chengdu University of Information Technology, Chengdu, ChinaSchool of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, ChinaChina Nuclear Power Engineering Co., Ltd., Beijing, ChinaChina Nuclear Power Engineering Co., Ltd., Beijing, ChinaSchool of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, ChinaShenzhen Institute for Advanced Study, University of Electronic Science and Technology of China (UESTC), Shenzhen, ChinaThis paper presents a novel visual-admittance-based model predictive control scheme to cope with the problem of vision/force control and several constraints of a nuclear collaborative robotic visual servoing system. A visual-admittance model considering the desired image feature and force command in the image feature space is proposed. Moreover, a novel constraint scheme of the model predictive control (MPC) is proposed to cancel the overshoot in the interaction force control for most cases by taking the desired force command as the constraint of the proposed MPC. Via applying the robotic dynamic image-based visual servoing (IBVS) model, some other constraints, such as the actuator saturation, joint angle, and visual limits, can be satisfied simultaneously. The simulation results for the two-degrees-of-freedom (DOF) robot manipulator with an eye-to-hand camera are present to demonstrate the effectiveness of the proposed controller.https://www.frontiersin.org/articles/10.3389/fenrg.2023.1203904/fullvisual-admittance modelvisual/force controlmodel predictive controlcollaborative robotdynamic visual servoing |
| spellingShingle | Jun Qi Jun Qi Jun Qi Zhao Xu Jiru Chu Minglei Zhu Yunlong Teng Visual-admittance-based model predictive control for nuclear collaborative robots Frontiers in Energy Research visual-admittance model visual/force control model predictive control collaborative robot dynamic visual servoing |
| title | Visual-admittance-based model predictive control for nuclear collaborative robots |
| title_full | Visual-admittance-based model predictive control for nuclear collaborative robots |
| title_fullStr | Visual-admittance-based model predictive control for nuclear collaborative robots |
| title_full_unstemmed | Visual-admittance-based model predictive control for nuclear collaborative robots |
| title_short | Visual-admittance-based model predictive control for nuclear collaborative robots |
| title_sort | visual admittance based model predictive control for nuclear collaborative robots |
| topic | visual-admittance model visual/force control model predictive control collaborative robot dynamic visual servoing |
| url | https://www.frontiersin.org/articles/10.3389/fenrg.2023.1203904/full |
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