Mobile Visual Servoing Based Control of a Complex Autonomous System Assisting a Manufacturing Technology on a Mechatronics Line

Abstract

The main contribution of this paper is the modeling and control for a complex autonomous system (CAS). It is equipped with a visual sensor to operate precision positioning in a technology executed on a laboratory mechatronics line. The technology allows the retrieval of workpieces which do not completely pass the quality test. Another objective of this paper is the implementation of an assisting technology for a laboratory processing/reprocessing mechatronics line (P/RML) containing four workstations, assisted by the following components: a complex autonomous system that consists of an autonomous robotic system (ARS), a wheeled mobile robot (WMR) PeopleBot, a robotic manipulator (RM) Cyton 1500 with seven degrees of freedom (7 DOF), and a mobile visual servoing system (MVS) with a Logitech camera as visual sensor used in the process of picking, transporting and placing the workpieces. The purpose of the MVS is to increase the precision of the RM by utilizing the look and move principle, since the initial and final positions of the CAS can slightly deviate from their trajectory, thus increasing the possibility of errors to appear during the process of catching and releasing the pieces. If the processed piece did not pass the quality test and has been rendered as defective, it is retrieved from the last station of the P/RML and transported to the first station for reprocessing. The control of the WMR is done using the trajectory-tracking sliding-mode control (TTSMC). The RM control is based on inverse kinematics model, and the MVS control is implemented with the image moments method.

Editorial Note for the Special Issue: Perspectives and Challenges in Doctoral Research—Selected Papers from the 10th Edition of the Scientific Conference of the Doctoral Schools from the “Dunărea de Jos”

“…In the domain of mechatronics, two articles, [8,9], were also published. The flexible assembly, disassembly, and repair of a mechatronic line (A/D/RML) supported by an autonomous robotic system (ARS), two robotic manipulators (RM), and a visual servoing system (VSS) are the subject of the article [8], which describes modeling and control techniques used in this field of study.…”

“…The work in question also covers the question of how to synchronize data between different types of industrystandard field equipment and control systems. With the aim of obtaining precise positioning in a processing technology applied to a laboratory mechatronics line (ML), the essential contribution of article [9] is the modeling and control of a complex autonomous system (CAS) outfitted with a robotic manipulator (RM) and a mobile vision sensor (MVS).…”