Vision/Position Hybrid Control for a Hexa Robot Using Bacterial Foraging Optimization in Real-time Pose Adjustment
This paper presents a novel architecture of the vision/position hybrid control for a Hexa parallel robot. The 3D vision system is combined with the Proportional-Integral-Derivative (PID) position controller to form a two-level closed-loop controller of the robot. The 3D vision system measures the po...
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-04-01
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| Series: | Symmetry |
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| Online Access: | https://www.mdpi.com/2073-8994/12/4/564 |
| _version_ | 1797571383714119680 |
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| author | Ba-Phuc Huynh Shun-Feng Su Yong-Lin Kuo |
| author_facet | Ba-Phuc Huynh Shun-Feng Su Yong-Lin Kuo |
| author_sort | Ba-Phuc Huynh |
| collection | DOAJ |
| description | This paper presents a novel architecture of the vision/position hybrid control for a Hexa parallel robot. The 3D vision system is combined with the Proportional-Integral-Derivative (PID) position controller to form a two-level closed-loop controller of the robot. The 3D vision system measures the pose of the end-effector after the PID control. The measurement of the 3D vision system is used as a feedback of the second closed-loop control. The 3D vision system has a simple structure using two fixed symmetric cameras at the top of the robot and four planar colored markers on the surface of the end-effector. The 3D vision system detects and reconstructs the 3D coordinates of colored markers. Based on the distance and coplanarity constraints of the colored markers, the optimization problem is modeled for the real-time adjustment, which is implemented during the operation of the robot to minimize the measurement error of the 3D vision system due to both the initial calibration of the stereo camera and the external noise affecting image processing. The bacterial foraging optimization is appropriately configured to solve the optimization problem. The experiment is performed on a specific Hexa parallel robot to assess the effectiveness and feasibility of the proposed real-time adjustment using the bacterial foraging optimization. The experimental result shows that it has high accuracy and fast computation time although the experiment is conducted on a laptop with an average hardware configuration. An experimental comparison of the performance between the proposed method and another control method is also implemented. The results show the superiority and application potential of the proposed method. |
| first_indexed | 2024-03-10T20:39:38Z |
| format | Article |
| id | doaj.art-2f9df82a2efe48119d882ba2cf13e3e8 |
| institution | Directory Open Access Journal |
| issn | 2073-8994 |
| language | English |
| last_indexed | 2024-03-10T20:39:38Z |
| publishDate | 2020-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Symmetry |
| spelling | doaj.art-2f9df82a2efe48119d882ba2cf13e3e82023-11-19T20:45:22ZengMDPI AGSymmetry2073-89942020-04-0112456410.3390/sym12040564Vision/Position Hybrid Control for a Hexa Robot Using Bacterial Foraging Optimization in Real-time Pose AdjustmentBa-Phuc Huynh0Shun-Feng Su1Yong-Lin Kuo2Graduate Institute of Automation and Control, National Taiwan University of Science and Technology, Taipei 10607, TaiwanDepartment of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 10607, TaiwanGraduate Institute of Automation and Control, National Taiwan University of Science and Technology, Taipei 10607, TaiwanThis paper presents a novel architecture of the vision/position hybrid control for a Hexa parallel robot. The 3D vision system is combined with the Proportional-Integral-Derivative (PID) position controller to form a two-level closed-loop controller of the robot. The 3D vision system measures the pose of the end-effector after the PID control. The measurement of the 3D vision system is used as a feedback of the second closed-loop control. The 3D vision system has a simple structure using two fixed symmetric cameras at the top of the robot and four planar colored markers on the surface of the end-effector. The 3D vision system detects and reconstructs the 3D coordinates of colored markers. Based on the distance and coplanarity constraints of the colored markers, the optimization problem is modeled for the real-time adjustment, which is implemented during the operation of the robot to minimize the measurement error of the 3D vision system due to both the initial calibration of the stereo camera and the external noise affecting image processing. The bacterial foraging optimization is appropriately configured to solve the optimization problem. The experiment is performed on a specific Hexa parallel robot to assess the effectiveness and feasibility of the proposed real-time adjustment using the bacterial foraging optimization. The experimental result shows that it has high accuracy and fast computation time although the experiment is conducted on a laptop with an average hardware configuration. An experimental comparison of the performance between the proposed method and another control method is also implemented. The results show the superiority and application potential of the proposed method.https://www.mdpi.com/2073-8994/12/4/5643D vision systembacterial foraging optimization (BFO)vision/position hybrid controlhexa parallel robot |
| spellingShingle | Ba-Phuc Huynh Shun-Feng Su Yong-Lin Kuo Vision/Position Hybrid Control for a Hexa Robot Using Bacterial Foraging Optimization in Real-time Pose Adjustment Symmetry 3D vision system bacterial foraging optimization (BFO) vision/position hybrid control hexa parallel robot |
| title | Vision/Position Hybrid Control for a Hexa Robot Using Bacterial Foraging Optimization in Real-time Pose Adjustment |
| title_full | Vision/Position Hybrid Control for a Hexa Robot Using Bacterial Foraging Optimization in Real-time Pose Adjustment |
| title_fullStr | Vision/Position Hybrid Control for a Hexa Robot Using Bacterial Foraging Optimization in Real-time Pose Adjustment |
| title_full_unstemmed | Vision/Position Hybrid Control for a Hexa Robot Using Bacterial Foraging Optimization in Real-time Pose Adjustment |
| title_short | Vision/Position Hybrid Control for a Hexa Robot Using Bacterial Foraging Optimization in Real-time Pose Adjustment |
| title_sort | vision position hybrid control for a hexa robot using bacterial foraging optimization in real time pose adjustment |
| topic | 3D vision system bacterial foraging optimization (BFO) vision/position hybrid control hexa parallel robot |
| url | https://www.mdpi.com/2073-8994/12/4/564 |
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