An open architecture for hybrid force-visual servo control of robotic manipulators in unstructured environments
Identifieur interne :
000803 ( PascalFrancis/Curation );
précédent :
000802;
suivant :
000804
An open architecture for hybrid force-visual servo control of robotic manipulators in unstructured environments
Auteurs : Iraj Hassanzadeh [
Iran] ;
Farrokh Janabi-Sharifi [
Canada]
Source :
-
Proceedings of SPIE, the International Society for Optical Engineering [ 0277-786X ] ; 2005.
RBID : Pascal:06-0315331
Descripteurs français
- Pascal (Inist)
- Capteur force,
Mesure force,
Capteur mesure,
Contrôle visuel,
Robotique,
Manipulateur,
Internet,
Téléopération,
Sensibilité tactile,
Caméra CCD,
Temps réel,
Articulation,
Commande retour état,
Commande force,
Simulation HIL,
Traitement image,
Assemblage mécanique.
- Wicri :
English descriptors
- KwdEn :
- CCD camera,
Force control,
Force measurement,
Force sensors,
Hardware in the loop simulation,
Image processing,
Internet,
Joint,
Joints,
Manipulators,
Measurement sensor,
Real time,
Remote operation,
Robotics,
State feedback,
Touch (physiological),
Visual control.
Abstract
In this paper, a new open architecture for visual servo control tasks is illustrated. A Puma-560 robotic manipulator is used to prove the concept. This design enables doing hybrid force/visual servo control in an unstructured environment in different modes. Also, it can be controlled through Internet in teleoperation mode using a haptic device. Our proposed structure includes two major parts, hardware and software. In terms of hardware, it consists of a master (host) computer, a slave (target) computer, a Puma 560 manipulator, a CCD camera, a force sensor and a haptic device. There are five DAQ cards, interfacing Puma 560 and a slave computer. An open architecture package is developed using Matlab®, Simulink® and XPC target toolbox. This package has the Hardware-In-the-Loop (HIL) property, i.e., enables one to readily implement different configurations of force, visual or hybrid control in real time. The implementation includes the following stages. First of all, retrofitting of puma was carried out. Then a modular joint controller for Puma 560 was realized using Simulink®. Force sensor driver and force control implementation were written, using sfunction blocks of Simulink®. Visual images were captured through Image Acquisition Toolbox of Matlab®, and processed using Image Processing Toolbox. A haptic device interface was also written in Simulink®. Thus, this setup could be readily reconfigured and accommodate any other robotic manipulator and/or other sensors without the trouble of the external issues relevant to the control, interface and software, while providing flexibility in components modification.
| pA |
| A01 | 01 | 1 | | @0 0277-786X |
|---|
| A05 | | | | @2 6052 |
|---|
| A08 | 01 | 1 | ENG | @1 An open architecture for hybrid force-visual servo control of robotic manipulators in unstructured environments |
|---|
| A09 | 01 | 1 | ENG | @1 Optomechatronic systems control : 5-7 December 2005, Sapporo, Japan |
|---|
| A11 | 01 | 1 | | @1 HASSANZADEH (Iraj) |
|---|
| A11 | 02 | 1 | | @1 JANABI-SHARIFI (Farrokh) |
|---|
| A12 | 01 | 1 | | @1 JANABI-SHARIFI (Farrokh) @9 ed. |
|---|
| A14 | 01 | | | @1 Center of Excellence for Mechatronics, University of Tabriz @2 Tabriz @3 IRN @Z 1 aut. |
|---|
| A14 | 02 | | | @1 Robotic and Manufacturing Automation Laboratory (RMAL), Department of Mechanical and Industrial Engineering, Ryerson University @2 Toronto @3 CAN @Z 2 aut. |
|---|
| A18 | 01 | 1 | | @1 Society of photo-optical instrumentation engineers @3 USA @9 org-cong. |
|---|
| A20 | | | | @2 605205.1-605205.9 |
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| A21 | | | | @1 2005 |
|---|
| A23 | 01 | | | @0 ENG |
|---|
| A26 | 01 | | | @0 0-8194-6088-5 |
|---|
| A43 | 01 | | | @1 INIST @2 21760 @5 354000153481630040 |
|---|
| A44 | | | | @0 0000 @1 © 2006 INIST-CNRS. All rights reserved. |
|---|
| A45 | | | | @0 33 ref. |
|---|
| A47 | 01 | 1 | | @0 06-0315331 |
|---|
| A60 | | | | @1 P @2 C |
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| A61 | | | | @0 A |
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| A64 | 01 | 1 | | @0 Proceedings of SPIE, the International Society for Optical Engineering |
|---|
| A66 | 01 | | | @0 USA |
|---|
| C01 | 01 | | ENG | @0 In this paper, a new open architecture for visual servo control tasks is illustrated. A Puma-560 robotic manipulator is used to prove the concept. This design enables doing hybrid force/visual servo control in an unstructured environment in different modes. Also, it can be controlled through Internet in teleoperation mode using a haptic device. Our proposed structure includes two major parts, hardware and software. In terms of hardware, it consists of a master (host) computer, a slave (target) computer, a Puma 560 manipulator, a CCD camera, a force sensor and a haptic device. There are five DAQ cards, interfacing Puma 560 and a slave computer. An open architecture package is developed using Matlab®, Simulink® and XPC target toolbox. This package has the Hardware-In-the-Loop (HIL) property, i.e., enables one to readily implement different configurations of force, visual or hybrid control in real time. The implementation includes the following stages. First of all, retrofitting of puma was carried out. Then a modular joint controller for Puma 560 was realized using Simulink®. Force sensor driver and force control implementation were written, using sfunction blocks of Simulink®. Visual images were captured through Image Acquisition Toolbox of Matlab®, and processed using Image Processing Toolbox. A haptic device interface was also written in Simulink®. Thus, this setup could be readily reconfigured and accommodate any other robotic manipulator and/or other sensors without the trouble of the external issues relevant to the control, interface and software, while providing flexibility in components modification. |
|---|
| C02 | 01 | 3 | | @0 001B00G07T |
|---|
| C03 | 01 | 3 | FRE | @0 Capteur force @5 06 |
|---|
| C03 | 01 | 3 | ENG | @0 Force sensors @5 06 |
|---|
| C03 | 02 | 3 | FRE | @0 Mesure force @5 07 |
|---|
| C03 | 02 | 3 | ENG | @0 Force measurement @5 07 |
|---|
| C03 | 03 | X | FRE | @0 Capteur mesure @5 08 |
|---|
| C03 | 03 | X | ENG | @0 Measurement sensor @5 08 |
|---|
| C03 | 03 | X | SPA | @0 Captador medida @5 08 |
|---|
| C03 | 04 | X | FRE | @0 Contrôle visuel @5 18 |
|---|
| C03 | 04 | X | ENG | @0 Visual control @5 18 |
|---|
| C03 | 04 | X | SPA | @0 Control visual @5 18 |
|---|
| C03 | 05 | X | FRE | @0 Robotique @5 19 |
|---|
| C03 | 05 | X | ENG | @0 Robotics @5 19 |
|---|
| C03 | 05 | X | SPA | @0 Robótica @5 19 |
|---|
| C03 | 06 | 3 | FRE | @0 Manipulateur @5 20 |
|---|
| C03 | 06 | 3 | ENG | @0 Manipulators @5 20 |
|---|
| C03 | 07 | 3 | FRE | @0 Internet @5 21 |
|---|
| C03 | 07 | 3 | ENG | @0 Internet @5 21 |
|---|
| C03 | 08 | X | FRE | @0 Téléopération @5 22 |
|---|
| C03 | 08 | X | ENG | @0 Remote operation @5 22 |
|---|
| C03 | 08 | X | SPA | @0 Teleacción @5 22 |
|---|
| C03 | 09 | 3 | FRE | @0 Sensibilité tactile @5 23 |
|---|
| C03 | 09 | 3 | ENG | @0 Touch (physiological) @5 23 |
|---|
| C03 | 10 | X | FRE | @0 Caméra CCD @5 24 |
|---|
| C03 | 10 | X | ENG | @0 CCD camera @5 24 |
|---|
| C03 | 10 | X | SPA | @0 Cámara CCD @5 24 |
|---|
| C03 | 11 | X | FRE | @0 Temps réel @5 25 |
|---|
| C03 | 11 | X | ENG | @0 Real time @5 25 |
|---|
| C03 | 11 | X | SPA | @0 Tiempo real @5 25 |
|---|
| C03 | 12 | X | FRE | @0 Articulation @5 26 |
|---|
| C03 | 12 | X | ENG | @0 Joint @5 26 |
|---|
| C03 | 12 | X | SPA | @0 Articulación @5 26 |
|---|
| C03 | 13 | X | FRE | @0 Commande retour état @5 27 |
|---|
| C03 | 13 | X | ENG | @0 State feedback @5 27 |
|---|
| C03 | 13 | X | SPA | @0 Bucle realimentación estado @5 27 |
|---|
| C03 | 14 | 3 | FRE | @0 Commande force @5 28 |
|---|
| C03 | 14 | 3 | ENG | @0 Force control @5 28 |
|---|
| C03 | 15 | X | FRE | @0 Simulation HIL @5 29 |
|---|
| C03 | 15 | X | ENG | @0 Hardware in the loop simulation @5 29 |
|---|
| C03 | 15 | X | SPA | @0 Simulación HIL @5 29 |
|---|
| C03 | 16 | 3 | FRE | @0 Traitement image @5 30 |
|---|
| C03 | 16 | 3 | ENG | @0 Image processing @5 30 |
|---|
| C03 | 17 | 3 | FRE | @0 Assemblage mécanique @5 41 |
|---|
| C03 | 17 | 3 | ENG | @0 Joints @5 41 |
|---|
| N21 | | | | @1 205 |
|---|
| N44 | 01 | | | @1 OTO |
|---|
| N82 | | | | @1 OTO |
|---|
|
|---|
| pR |
| A30 | 01 | 1 | ENG | @1 Optomechatronic systems control. Conference @3 Sapporo JPN @4 2005 |
|---|
|
|---|
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Le document en format XML
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<s3>IRN</s3>
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</affiliation><author><name sortKey="Janabi Sharifi, Farrokh" sort="Janabi Sharifi, Farrokh" uniqKey="Janabi Sharifi F" first="Farrokh" last="Janabi-Sharifi">Farrokh Janabi-Sharifi</name>
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</seriesStmt><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>CCD camera</term>
<term>Force control</term>
<term>Force measurement</term>
<term>Force sensors</term>
<term>Hardware in the loop simulation</term>
<term>Image processing</term>
<term>Internet</term>
<term>Joint</term>
<term>Joints</term>
<term>Manipulators</term>
<term>Measurement sensor</term>
<term>Real time</term>
<term>Remote operation</term>
<term>Robotics</term>
<term>State feedback</term>
<term>Touch (physiological)</term>
<term>Visual control</term>
</keywords><keywords scheme="Pascal" xml:lang="fr"><term>Capteur force</term>
<term>Mesure force</term>
<term>Capteur mesure</term>
<term>Contrôle visuel</term>
<term>Robotique</term>
<term>Manipulateur</term>
<term>Internet</term>
<term>Téléopération</term>
<term>Sensibilité tactile</term>
<term>Caméra CCD</term>
<term>Temps réel</term>
<term>Articulation</term>
<term>Commande retour état</term>
<term>Commande force</term>
<term>Simulation HIL</term>
<term>Traitement image</term>
<term>Assemblage mécanique</term>
</keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term>
</keywords><front><div type="abstract" xml:lang="en">In this paper, a new open architecture for visual servo control tasks is illustrated. A Puma-560 robotic manipulator is used to prove the concept. This design enables doing hybrid force/visual servo control in an unstructured environment in different modes. Also, it can be controlled through Internet in teleoperation mode using a haptic device. Our proposed structure includes two major parts, hardware and software. In terms of hardware, it consists of a master (host) computer, a slave (target) computer, a Puma 560 manipulator, a CCD camera, a force sensor and a haptic device. There are five DAQ cards, interfacing Puma 560 and a slave computer. An open architecture package is developed using Matlab®, Simulink® and XPC target toolbox. This package has the Hardware-In-the-Loop (HIL) property, i.e., enables one to readily implement different configurations of force, visual or hybrid control in real time. The implementation includes the following stages. First of all, retrofitting of puma was carried out. Then a modular joint controller for Puma 560 was realized using Simulink®. Force sensor driver and force control implementation were written, using sfunction blocks of Simulink®. Visual images were captured through Image Acquisition Toolbox of Matlab®, and processed using Image Processing Toolbox. A haptic device interface was also written in Simulink®. Thus, this setup could be readily reconfigured and accommodate any other robotic manipulator and/or other sensors without the trouble of the external issues relevant to the control, interface and software, while providing flexibility in components modification.</div>
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</fA11><fA11 i1="02" i2="1"><s1>JANABI-SHARIFI (Farrokh)</s1>
</fA11><fA12 i1="01" i2="1"><s1>JANABI-SHARIFI (Farrokh)</s1>
<s9>ed.</s9>
</fA12><fA14 i1="01"><s1>Center of Excellence for Mechatronics, University of Tabriz</s1>
<s2>Tabriz</s2>
<s3>IRN</s3>
<sZ>1 aut.</sZ>
</fA14><fA14 i1="02"><s1>Robotic and Manufacturing Automation Laboratory (RMAL), Department of Mechanical and Industrial Engineering, Ryerson University</s1>
<s2>Toronto</s2>
<s3>CAN</s3>
<sZ>2 aut.</sZ>
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</fA66><fC01 i1="01" l="ENG"><s0>In this paper, a new open architecture for visual servo control tasks is illustrated. A Puma-560 robotic manipulator is used to prove the concept. This design enables doing hybrid force/visual servo control in an unstructured environment in different modes. Also, it can be controlled through Internet in teleoperation mode using a haptic device. Our proposed structure includes two major parts, hardware and software. In terms of hardware, it consists of a master (host) computer, a slave (target) computer, a Puma 560 manipulator, a CCD camera, a force sensor and a haptic device. There are five DAQ cards, interfacing Puma 560 and a slave computer. An open architecture package is developed using Matlab®, Simulink® and XPC target toolbox. This package has the Hardware-In-the-Loop (HIL) property, i.e., enables one to readily implement different configurations of force, visual or hybrid control in real time. The implementation includes the following stages. First of all, retrofitting of puma was carried out. Then a modular joint controller for Puma 560 was realized using Simulink®. Force sensor driver and force control implementation were written, using sfunction blocks of Simulink®. Visual images were captured through Image Acquisition Toolbox of Matlab®, and processed using Image Processing Toolbox. A haptic device interface was also written in Simulink®. Thus, this setup could be readily reconfigured and accommodate any other robotic manipulator and/or other sensors without the trouble of the external issues relevant to the control, interface and software, while providing flexibility in components modification.</s0>
</fC01><fC02 i1="01" i2="3"><s0>001B00G07T</s0>
</fC02><fC03 i1="01" i2="3" l="FRE"><s0>Capteur force</s0>
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<s5>08</s5>
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<s5>08</s5>
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<s5>18</s5>
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<s5>18</s5>
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<s5>18</s5>
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<s5>19</s5>
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<s5>19</s5>
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<s5>19</s5>
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<s5>20</s5>
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<s5>20</s5>
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<s5>21</s5>
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<s5>22</s5>
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<s5>23</s5>
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<s5>23</s5>
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<s5>24</s5>
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<s5>24</s5>
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<s5>24</s5>
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<s5>25</s5>
</fC03><fC03 i1="11" i2="X" l="ENG"><s0>Real time</s0>
<s5>25</s5>
</fC03><fC03 i1="11" i2="X" l="SPA"><s0>Tiempo real</s0>
<s5>25</s5>
</fC03><fC03 i1="12" i2="X" l="FRE"><s0>Articulation</s0>
<s5>26</s5>
</fC03><fC03 i1="12" i2="X" l="ENG"><s0>Joint</s0>
<s5>26</s5>
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<s5>26</s5>
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<s5>27</s5>
</fC03><fC03 i1="13" i2="X" l="ENG"><s0>State feedback</s0>
<s5>27</s5>
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<s5>27</s5>
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<s5>28</s5>
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<s5>28</s5>
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<s5>29</s5>
</fC03><fC03 i1="15" i2="X" l="ENG"><s0>Hardware in the loop simulation</s0>
<s5>29</s5>
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<s5>29</s5>
</fC03><fC03 i1="16" i2="3" l="FRE"><s0>Traitement image</s0>
<s5>30</s5>
</fC03><fC03 i1="16" i2="3" l="ENG"><s0>Image processing</s0>
<s5>30</s5>
</fC03><fC03 i1="17" i2="3" l="FRE"><s0>Assemblage mécanique</s0>
<s5>41</s5>
</fC03><fC03 i1="17" i2="3" l="ENG"><s0>Joints</s0>
<s5>41</s5>
</fC03><fN21><s1>205</s1>
</fN21><fN44 i1="01"><s1>OTO</s1>
</fN44><fN82><s1>OTO</s1>
</fN82><pR><fA30 i1="01" i2="1" l="ENG"><s1>Optomechatronic systems control. Conference</s1>
<s3>Sapporo JPN</s3>
<s4>2005</s4>
</fA30>
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