Image Jacobian matrix identification based on Kalman filtering and visual predictive control of manipulator

In order to overcome modeling accuracy restriction in robot control, a sort of visual predictive control algorithm is proposed. The predictive model is based on image Jacobian matrix, which is estimated on-line through Kalman filtering. The tricky problem of constraint handling is taken into account...

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Bibliographic Details
Published in2016 35th Chinese Control Conference (CCC) pp. 10273 - 10278
Main Authors Zheng, Yafei, Yang, Maying
Format Conference Proceeding Journal Article
LanguageEnglish
Published TCCT 01.07.2016
Subjects
Algorithms
Decision support systems
Image Jacobian Matrix
Jacobi matrix method
Jacobian matrix
Kalman Filtering
Mathematical models
Model Predictive Control
NAO
Predictive control
Virtual private networks
Visibility
Visual Servoing
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Summary:In order to overcome modeling accuracy restriction in robot control, a sort of visual predictive control algorithm is proposed. The predictive model is based on image Jacobian matrix, which is estimated on-line through Kalman filtering. The tricky problem of constraint handling is taken into account, such as mechanical constraint and visibility constraint. The validity of the algorithm is illustrated through the experiments on NAO's arm, and the rapid identification of object is achieved by using Naomark label. Experimental results demonstrate that the proposed algorithm is feasible and the control performance is satisfactory.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Conference-1
ObjectType-Feature-3
content type line 23
SourceType-Conference Papers & Proceedings-2
ISSN:2161-2927
1934-1768
DOI:10.1109/ChiCC.2016.7554982