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Robust fulfillment of constraints in robot visual servoing

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Robust fulfillment of constraints in robot visual servoing

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dc.contributor.author Muñoz-Benavent, Pau es_ES
dc.contributor.author Gracia Calandin, Luis Ignacio es_ES
dc.contributor.author Solanes Galbis, Juan Ernesto es_ES
dc.contributor.author Esparza Peidro, Alicia es_ES
dc.contributor.author Tornero Montserrat, Josep es_ES
dc.date.accessioned 2020-10-06T03:31:39Z
dc.date.available 2020-10-06T03:31:39Z
dc.date.issued 2018-02 es_ES
dc.identifier.issn 0967-0661 es_ES
dc.identifier.uri http://hdl.handle.net/10251/151157
dc.description.abstract [EN] In this work, an approach based on sliding mode ideas is proposed to satisfy constraints in robot visual servoing. In particular, different types of constraints are defined in order to: fulfill the visibility constraints (camera fieldof-view and occlusions) for the image features of the detected object; to avoid exceeding the joint range limits and maximum joint speeds; and to avoid forbidden areas in the robot workspace. Moreover, another task with low-priority is considered to track the target object. The main advantages of the proposed approach are low computational cost, robustness and fully utilization of the allowed space for the constraints. The applicability and effectiveness of the proposed approach is demonstrated by simulation results for a simple 2D case and a complex 3D case study. Furthermore, the feasibility and robustness of the proposed approach is substantiated by experimental results using a conventional 6R industrial manipulator. es_ES
dc.description.sponsorship This work was supported in part by the Spanish Government under grants BES-2010-038486 and Project DPI2013-42302-R, and the Generalitat Valenciana under grants VALi+d APOSTD/2016/044 and BEST/2017/029. es_ES
dc.language Inglés es_ES
dc.publisher Elsevier es_ES
dc.relation GV/BEST/2017/029 es_ES
dc.relation MINISTERIO DE ECONOMIA INDUSTRIA Y COMPETITIVIDAD /BES-2010-038486 es_ES
dc.relation info:eu-repo/grantAgreement/MINECO//DPI2013-42302-R/ES/SISTEMAS DE CONDUCCION SEGURA DE VEHICULOS DE TRANSPORTE DE PASAJEROS Y MATERIALES CON ASISTENCIA HAPTICA%2FAUDIOVISUAL E INTERFACES BIOMEDICAS/ es_ES
dc.relation GENERALITAT VALENCIANA/APOSTD/2016/044 es_ES
dc.relation info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-87656-C2-1-R/ES/VISION ARTIFICIAL Y ROBOTICA COLABORATIVA EN PULIDO DE SUPERFICIES EN LA INDUSTRIA/ es_ES
dc.relation.ispartof Control Engineering Practice es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Visual servoing es_ES
dc.subject Sliding mode es_ES
dc.subject Robot control es_ES
dc.subject.classification ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Robust fulfillment of constraints in robot visual servoing es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.conengprac.2017.10.017 es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Informática de Sistemas y Computadores - Departament d'Informàtica de Sistemes i Computadors es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.description.bibliographicCitation Muñoz-Benavent, P.; Gracia Calandin, LI.; Solanes Galbis, JE.; Esparza Peidro, A.; Tornero Montserrat, J. (2018). Robust fulfillment of constraints in robot visual servoing. Control Engineering Practice. 71(1):79-95. https://doi.org/10.1016/j.conengprac.2017.10.017 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1016/j.conengprac.2017.10.017 es_ES
dc.description.upvformatpinicio 79 es_ES
dc.description.upvformatpfin 95 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 71 es_ES
dc.description.issue 1 es_ES
dc.relation.pasarela S\351237 es_ES
dc.contributor.funder Generalitat Valenciana es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES
dc.contributor.funder Ministerio de Economía y Empresa es_ES
dc.contributor.funder Ministerio de Economía, Industria y Competitividad es_ES


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