Control of Redundant Joint Structures Using Image Information During the Tracking of Non-Smooth Trajectories


Autoria(s): Lorenzo Lledó, Gonzalo; Pomares, Jorge; Lledó Carreres, Asunción; Jara Bravo, Carlos Alberto
Contribuinte(s)

Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal

Universidad de Alicante. Departamento de Psicología Evolutiva y Didáctica

EDUTIC- ADEI (Educación y Tecnologías de la Información y Comunicación- Atención a la Diversidad. Escuela Inclusiva)

Automática, Robótica y Visión Artificial

Data(s)

28/01/2015

28/01/2015

17/06/2014

Resumo

Visual information is increasingly being used in a great number of applications in order to perform the guidance of joint structures. This paper proposes an image-based controller which allows the joint structure guidance when its number of degrees of freedom is greater than the required for the developed task. In this case, the controller solves the redundancy combining two different tasks: the primary task allows the correct guidance using image information, and the secondary task determines the most adequate joint structure posture solving the possible joint redundancy regarding the performed task in the image space. The method proposed to guide the joint structure also employs a smoothing Kalman filter not only to determine the moment when abrupt changes occur in the tracked trajectory, but also to estimate and compensate these changes using the proposed filter. Furthermore, a direct visual control approach is proposed which integrates the visual information provided by this smoothing Kalman filter. This last aspect permits the correct tracking when noisy measurements are obtained. All the contributions are integrated in an application which requires the tracking of the faces of Asperger children.

Identificador

Journal of Intelligent & Robotic Systems. 2014, June. doi:10.1007/s10846-014-0069-y

0921-0296 (Print)

1573-0409 (Online)

http://hdl.handle.net/10045/44397

10.1007/s10846-014-0069-y

Idioma(s)

eng

Publicador

Springer Science+Business Media Dordrecht

Relação

http://dx.doi.org/10.1007/s10846-014-0069-y

Direitos

The final publication is available at Springer via http://dx.doi.org/10.1007/s10846-014-0069-y

info:eu-repo/semantics/openAccess

Palavras-Chave #Service robots #Robot vision #Image-based control #Control of joint structures #Ingeniería de Sistemas y Automática #Didáctica y Organización Escolar
Tipo

info:eu-repo/semantics/article