Visionbased Robotic Motion Control For Nonautonomous Environment

• doi: 10.23919/ECC.2007.7068224
• title: Vision-based robotic motion control for non-autonomous environment
• publisher: IEEE
• isbn: 978-3-9524173-8-6
• issn:
• rank: 3981
• access_type: LOCKED
• content_type: Conferences
• abstract: A visual servo control system with SOPC structure is implemented on a retrofitted Mitsubishi RV-M2 robotic system. The hardware circuit has the functions of quadrature encoder decoding, limit switch detecting, pulse width modulation (PWM) generating and CMOS image signal capturing. The software embedded in Nios II micro processor has the functions of using UART to communicate with PC, robotic inverse kinematics calculation, robotic motion control schemes, digital image processing algorithm and gobang game AI algorithm. A CMOS color image sensor is used to catch the environment time-varying change for robotic vision-based servo control. A gobang game is planned to investigate the implementation problem of the visual servo robotic motion control in non-autonomous environment. A model-free intelligent self-organizing fuzzy control (SOFC) strategy is employed to design the robotic joint controller. A vision based trajectory planning algorithm is designed to calculate the desired angular positions or trajectory of each robotic joint. The experimental results show that this visual servo control robot has reliable control actions.
• article_number: 7068224
• pdf_url: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7068224
• html_url: https://ieeexplore.ieee.org/document/7068224/
• abstract_url: https://ieeexplore.ieee.org/document/7068224/
• publication_title: 2007 European Control Conference (ECC)
• conference_location: Kos, Greece
• conference_dates: 2-5 July 2007
• publication_number: 7065133
• is_number: 7068209
• publication_year: 2007
• publication_date: 2-5 July 2007
• start_page: 1455
• end_page: 1462
• citing_paper_count: 1
• citing_patent_count: 0
• download_count: 196
• insert_date: 20150326
• index_terms:
  • ieee_terms:
    • Image color analysis
    • Robot sensing systems
    • Trajectory
    • Joints
    • Robot kinematics
    • Games
  • dynamic_index_terms:
    • Motor Control
    • Robot Control
    • Robot Motion
    • Robot Path Planning
    • Robot Motion Control
    • Control System
    • Image Processing
    • Pulse Width
    • Pulsewidth Modulation
    • Robotic System
    • Image Sensor
    • Camera Sensor
    • Angular Position
    • Angular Direction
    • Digital Image Processing
    • Image Optimization
    • Boundary Extraction
    • Computer Image Processing
    • Fuzzy Control
    • Visual Control
    • Intelligent Control
    • Inverse Kinematics
    • Trajectory Planning
    • Robot Joint
    • Model-free Control
    • Servo Control
    • Hardware Circuit
    • Fuzzy Rules
    • Fuzzy Variables
    • Robot Control System
    • Hot Research Topics
    • Cartesian Space
    • Cartesian Plane
    • Cartesian Axes
    • Acceleration Time
    • Machine Vision
    • Visual Navigation
    • Control Input
    • Complicated Operation
    • Maximum Acceleration
• isbn_formats:
  • format: Print ISBN, value: 978-3-9524173-8-6, isbnType: New-2005
• authors:
  • Author Name: Shiuh-Jer Huang
    Affiliation: Department of Vehicle Engineering, National Taipei University of Technology, Taipei, Taiwan
    Author URL: https://ieeexplore.ieee.org/author/37349764900
    ID: 37349764900
    Order: 1
    Author Affiliations:
    • Department of Vehicle Engineering, National Taipei University of Technology, Taipei, Taiwan
  • Author Name: Shian-Shin Wu
    Affiliation: Department of Mechanical Engineering, National Taiwan University of Science and Technology
    Author URL: https://ieeexplore.ieee.org/author/37085748743
    ID: 37085748743
    Order: 2
    Author Affiliations:
    • Department of Mechanical Engineering, National Taiwan University of Science and Technology

Image Sensor

• sensor_type: CMOS
• resolution: 356x292
• dynamic_range: Not specified
• pixel_size: Not specified
• dark_current: Not specified

Optical Data

• focal_length: Not specified
• aperture: Not specified
• field_of_view: Not specified
• distortion: Not specified

Performance Metrics

Applications & Benefits

• cell_imaging: Not specified
• benefits: Enables digital imaging in various applications such as smartphones, medical devices, and automotive systems.

Supporting Organizations

• supported_by: National Science Council

Manuscript Details

• publication_date: 2-5 July 2007

Relevancy Score

• score: 8
• missing_fields:
  • fill factor
  • quantum efficiency
  • readout speed
  • temporal noise
  • fixed-pattern noise
  • analog-to-digital conversion techniques
  • microlenses
  • on-chip colour filters
  • global or rolling shutters
  • backside illumination

Processed JSON Filename

request_7375176b-287f-4347-ae72-01c250c182bf-visionbased_robotic_motion_control_for_nonautonomous_environment.json