Por favor, use este identificador para citar o enlazar a este item:
http://hdl.handle.net/10261/30335
COMPARTIR / EXPORTAR:
SHARE BASE | |
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE | |
Título: | A 2D unknown contour recovery method immune to system non-linear effects |
Autor: | Hernàndez, Sergi; Mirats-Tur, Josep M. CSIC | Palabras clave: | PSD Sensors Contour recovery Control theory: Control nonlinearities Automation: Robots: Manipulators Nonlinear control theory Manipulators (Mechanism) |
Fecha de publicación: | 2006 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | IEEE International Conference on Robotics and Biomimetics: pp. 583-588 (2006) | Resumen: | A method to recover general 2D a priori unknown contours using a kind of special optic sensor is described. Contour recovery is an important task for exploratory operations in unknown environments as well as for more practical applications such as grinding or deburring. It is not an easy task since the recovered contour (generally obtained using encoder data) is severely distorted due to errors in the kinematic model of the robot and to the non-linearities of its actuators. Some mathematical models have been presented to partially compensate for those effects, but they require a deep knowledge of both the robot and sensor models which are difficult to obtain accurately, and normally imply an adaptive non-linear control to estimate some of the unknown parameters of the model. Our approach, in despite of its simplicity, is intrinsically immune to non-linearities, which allows us to eliminate most of the distortions added to the sensor data. A simple algorithm to follow unknown planar contours is presented and used to test the performance of this approach in comparison to the one using encoder data. Experimental results and practical problems are also discussed. | Descripción: | IEEE International Conference on Robotics and Biomimetics (ROBIO), 2006, Kunming (China) | URI: | http://hdl.handle.net/10261/30335 | DOI: | 10.1109/ROBIO.2006.340265 | ISBN: | 9781424405701 |
Aparece en las colecciones: | (IRII) Comunicaciones congresos |
Ficheros en este ítem:
Fichero | Descripción | Tamaño | Formato | |
---|---|---|---|---|
doc1.pdf | 308,64 kB | Adobe PDF | Visualizar/Abrir |
CORE Recommender
Page view(s)
324
checked on 22-abr-2024
Download(s)
326
checked on 22-abr-2024
Google ScholarTM
Check
Altmetric
Altmetric
NOTA: Los ítems de Digital.CSIC están protegidos por copyright, con todos los derechos reservados, a menos que se indique lo contrario.