Motion Trajectory Estimation of a Flying Object and Optimal Reduced Impact Catching by a Planar Manipulator

Paing, Min Set; Nshama, Enock William; Uchiyama, Naoki

doi:10.1109/ro-man47096.2020.9223443

Cited by 3 publications

(2 citation statements)

References 16 publications

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“…In the area of manipulator tracking combined with machine vision, researchers have adopted many methods and achieved many impressive results, such as Kalman filtering (KF) [4], extended KF (EKF) [5], unscented KF (UKF) [6], particle filter [7], machine learning, and artificial intelligence [8]. Frese et al [9,10] adopted EKF for tracking random motion targets based on machine vision, but the tracking effect of EKF is not satisfactory for strongly nonlinear motion such as random motion. Paing et al [11] improved the estimation of object trajectories via KF for the capture of flying objects and proposed a least squares fit to accurately predict the capture time, position, and velocity of the manipulator.…”

Section: Introductionmentioning

confidence: 99%

Manipulator Tracking Technology Based on FSRUKF

Shi,

Zhang,

Zhang

et al. 2024

J. of Syst. Eng. Electron.

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Aiming at the shortcoming that the traditional industrial manipulator using off-line programming cannot change along with the change of external environment, the key technologies such as machine vision and manipulator control are studied, and a complete manipulator vision tracking system is designed. Firstly, Denavit-Hartenberg (D-H) parameters method is used to construct the model of the manipulator and analyze the forward and inverse kinematics equations of the manipulator. At the same time, a binocular camera is used to obtain the threedimensional position of the target. Secondly, in order to make the manipulator track the target more accurately, the fuzzy adaptive square root unscented Kalman filter (FSRUKF) is proposed to estimate the target state. Finally, the manipulator tracking system is built by using the position-based visual servo. The simulation experiments show that FSRUKF converges faster and with less error than the square root unscented Kalman filter (SRUKF), which meets the application requirements of the manipulator tracking system, and basically meets the application requirements of the manipulator tracking system in the practical experiments.

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Section: Introductionmentioning

confidence: 99%

Manipulator Tracking Technology Based on FSRUKF

Shi,

Zhang,

Zhang

et al. 2024

J. of Syst. Eng. Electron.

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“…Therefore, this is a very relevant topic in science and modern engineering for a vast range of industries such as automotive, aeronautical, electronic, mechatronics, medicine, or biotechnology. There are many methods to move an object in a nonprehensile way, such as pushing by various robot arms [4,5], catching [6], batting/juggling [7][8][9], employing various planar manipulators [10][11][12][13][14], using various acoustic manipulation systems [15][16][17][18], or using active transportation surfaces where the object's motion is achieved through controlled deformations generated by arrays of actuators [19]. However, vibration assisted methods, where friction phenomena play a major role, are some of the most versatile, easily implemented, cost effective, and efficient methods [20].…”

Section: Introductionmentioning

confidence: 99%

Vibrational Transportation on a Platform Subjected to Sinusoidal Displacement Cycles Employing Dry Friction Control

Kilikevičius

Fedaravičius

2021

Sensors

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Currently used vibrational transportation methods are usually based on asymmetries of geometric, kinematic, wave, or time types. This paper investigates the vibrational transportation of objects on a platform that is subjected to sinusoidal displacement cycles, employing periodic dynamic dry friction control. This manner of dry friction control creates an asymmetry, which is necessary to move the object. The theoretical investigation on functional capabilities and transportation regimes was carried out using a developed parametric mathematical model, and the control parameters that determine the transportation characteristics such as velocity and direction were defined. To test the functional capabilities of the proposed method, an experimental setup was developed, and experiments were carried out. The results of the presented research indicate that the proposed method ensures smooth control of the transportation velocity in a wide range and allows it to change the direction of motion. Moreover, the proposed method offers other new functional capabilities, such as a capability to move individual objects on the same platform in opposite directions and at different velocities at the same time by imposing different friction control parameters on different regions of the platform or on different objects. In addition, objects can be subjected to translation and rotation at the same time by imposing different friction control parameters on different regions of the platform. The presented research extends the classical theory of vibrational transportation and has a practical value for industries that operate manufacturing systems performing tasks such as handling and transportation, positioning, feeding, sorting, aligning, or assembling.

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A Kinematically Constrained Reparameterization Approach to Optimal Time and Jerk Motion of Industrial Machines

2021

Self Cite

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The increasing demands of a modern industry require the usage of industrial machines to perform various tasks with complex profiles. Tasks are usually given by a set of motion trajectory via-points; thus the geometric path representation and the proper reparameterization of the trajectory with respect to time are necessary. This study presents a kinematically constrained reparameterization approach for generating the trajectory by formulating an optimal control problem for time and jerk. Both geometric path generation and trajectory reparameterization are adopted by B-splines to ensure the trajectory smoothness. Inequality constraints are proposed to satisfy the axial kinematic limits, and equality constraints are included to ensure zero velocity and acceleration at the start and end of the trajectory. The trade-off between time and jerk is formulated as a bi-objective optimization problem. Moreover, the normalized normal constraint method with divide and conquer algorithm is applied to generate a Pareto front with significant trade-offs. Subsequently, the best trade-off solution is chosen. The proposed method is investigated by simulation with several geometric profiles, and the effectiveness is validated with an experimental result.INDEX TERMS B-splines, bi-objective optimization, constrained reparameterization, optimal control, Pareto front, trajectory generation, trajectory planning.

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Motion Trajectory Estimation of a Flying Object and Optimal Reduced Impact Catching by a Planar Manipulator

Cited by 3 publications

References 16 publications

Manipulator Tracking Technology Based on FSRUKF

Manipulator Tracking Technology Based on FSRUKF

Vibrational Transportation on a Platform Subjected to Sinusoidal Displacement Cycles Employing Dry Friction Control

A Kinematically Constrained Reparameterization Approach to Optimal Time and Jerk Motion of Industrial Machines

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