scholarly journals Vision/Position Hybrid Control for a Hexa Robot Using Bacterial Foraging Optimization in Real-time Pose Adjustment

Symmetry ◽  
2020 ◽  
Vol 12 (4) ◽  
pp. 564
Author(s):  
Ba-Phuc Huynh ◽  
Shun-Feng Su ◽  
Yong-Lin Kuo
Keyword(s):  
Real Time ◽  
Optimization Problem ◽  
Closed Loop ◽  
Hybrid Control ◽  
Vision System ◽  
Parallel Robot ◽  
Bacterial Foraging Optimization ◽  
3D Vision ◽  
End Effector ◽  
Bacterial Foraging

This paper presents a novel architecture of the vision/position hybrid control for a Hexa parallel robot. The 3D vision system is combined with the Proportional-Integral-Derivative (PID) position controller to form a two-level closed-loop controller of the robot. The 3D vision system measures the pose of the end-effector after the PID control. The measurement of the 3D vision system is used as a feedback of the second closed-loop control. The 3D vision system has a simple structure using two fixed symmetric cameras at the top of the robot and four planar colored markers on the surface of the end-effector. The 3D vision system detects and reconstructs the 3D coordinates of colored markers. Based on the distance and coplanarity constraints of the colored markers, the optimization problem is modeled for the real-time adjustment, which is implemented during the operation of the robot to minimize the measurement error of the 3D vision system due to both the initial calibration of the stereo camera and the external noise affecting image processing. The bacterial foraging optimization is appropriately configured to solve the optimization problem. The experiment is performed on a specific Hexa parallel robot to assess the effectiveness and feasibility of the proposed real-time adjustment using the bacterial foraging optimization. The experimental result shows that it has high accuracy and fast computation time although the experiment is conducted on a laptop with an average hardware configuration. An experimental comparison of the performance between the proposed method and another control method is also implemented. The results show the superiority and application potential of the proposed method.

scholarly journals Real-Time Implementation of the Predictive-Based Control with Bacterial Foraging Optimization Technique for Power Management in Standalone Microgrid Application

Energies ◽  
2021 ◽  
Vol 14 (6) ◽  
pp. 1723
Author(s):  
Félix Dubuisson ◽  
Miloud Rezkallah ◽  
Hussein Ibrahim ◽  
Ambrish Chandra
Keyword(s):  
Real Time ◽  
Power Management ◽  
Renewable Energy Sources ◽  
Optimization Technique ◽  
Euler Method ◽  
Small Scale ◽  
Diesel Generator ◽  
Bacterial Foraging Optimization ◽  
Time Model ◽  
Bacterial Foraging

In this paper, the predictive-based control with bacterial foraging optimization technique for power management in a standalone microgrid is studied and implemented. The heuristic optimization method based on the social foraging behavior of Escherichia coli bacteria is employed to determine the power references from the non-renewable energy sources and loads of the proposed configuration, which consists of a fixed speed diesel generator and battery storage system (BES). The two-stage configuration is controlled to maintain the DC-link voltage constant, regulate the AC voltage and frequency, and improve the power quality, simultaneously. For these tasks, on the AC side, the obtained power references are used as input signals to the predictive-based control. With the help of the system parameters, the predictive-based control computes all possible states of the system on the next sampling time and compares them with the estimated power references obtained using the bacterial foraging optimization (BFO) technique to get the inverter current reference. For the DC side, the same concept based on the predictive approach is employed to control the DC-DC buck-boost converter by regulating the DC-link voltage using the forward Euler method to generate the discrete-time model to predict in real-time the BES current. The proposed control strategies are evaluated using simulation results obtained with Matlab/Simulink in presence of different types of loads, as well as experimental results obtained with a small-scale microgrid.

Real-Time Sensing of Sag Geometry During GTA Welding

1997 ◽  
Vol 119 (2) ◽  
pp. 151-160 ◽  
Author(s):  
Y. M. Zhang ◽  
R. Kovacevic
Keyword(s):  
Real Time ◽  
Vision System ◽  
Structured Light ◽  
Gta Welding ◽  
Seam Tracking ◽  
Image Processing Algorithm ◽  
3D Vision ◽  
Full Penetration ◽  
Laser Stripe ◽  
Penetration Control

Seam tracking and weld penetration control are two fundamental issues in automated welding. Although the seam tracking technique has matured, the latter still remains a unique unsolved problem. It was found that the full penetration status during GTA welding can be determined with sufficient accuracy using the sag depression. To achieve a new full penetration sensing technique, a structured-light 3D vision system is developed to extract the sag geometry behind the pool. The laser stripe, which is the intersection of the structured-light and weldment, is thinned and then used to acquire the sag geometry. To reduce possible control delay, a small distance is selected between the pool rear and laser stripe. An adaptive dynamic search for rapid thinning of the stripe and the maximum principle of slope difference for unbiased recognition of sag border were proposed to develop an effective real-time image processing algorithm for sag geometry acquisition. Experiments have shown that the proposed sensor and image algorithm can provide reliable feedback information of sag geometry for the full penetration control system.

Collision Avoidance Algorithm for Collaborative Robotics

2017 ◽  
Vol 11 (3) ◽  
pp. 481-489 ◽  
Author(s):  
Stefano Mauro ◽  
◽  
Stefano Pastorelli ◽  
Leonardo Sabatino Scimmi
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Vision System ◽  
Operating Conditions ◽  
End Effector ◽  
Collaborative Robotics ◽  
Avoidance Tests ◽  
Robot Configuration

The paper discusses a study on a real-time collision avoidance algorithm for collaborative robotics applications. Within the work it is considered that a vision system detects the position of an obstacle and defines an ellipsoid which completely includes it. A similar virtual ellipsoid is considered to include the end effector, and its pose is computed based on the robot configuration. The distance between ellipsoids is input into the collision avoidance algorithm based on the method of artificial potentials. The tuning of the algorithm is described herein, along with an analysis of its performance under different operating conditions. The results of two collision avoidance tests are also presented. For the first test, the end-effector must avoid a fixed obstacle placed along a planned path. For the second test, the obstacle is moving, following a trajectory that intersects that of the end-effector. Finally, the behavior of the algorithm with increasing velocities of the end-effector and obstacle is analyzed.

The QuadroG Robot, a Parallel Robot With a Configurable Platform for Haptic Applications

2015 ◽  
Author(s):  
Salua Hamaza ◽  
Patrice Lambert ◽  
Marco Carricato ◽  
Just Herder
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Parallel Robot ◽  
Parallel Robots ◽  
End Effector ◽  
Contact Points ◽  
Loop Chain ◽  
End Effectors ◽  
4 Degrees Of Freedom

This paper explores the fundamentals of parallel robots with configurable platforms (PRCP), as well as the design and the kinematic analysis of those. The concept behind PRCP is that the rigid (non-configurable) end-effector is replaced by a closed-loop chain, the configurable platform. The use of a closed-loop chain allows the robot to interact with the environment from multiple contact points on the platform, which reflects the presence of multiple end-effectors. This results in a robot that successfully combines motion and grasping capabilities into a structure that provides an inherent high stiffness. This paper aims to introduce the QuadroG robot, a 4 degrees of freedom PRCP which finely merges planar motion together with grasping capabilities.

scholarly journals Dynamic Hybrid Filter for Vision-Based Pose Estimation of a Hexa Parallel Robot

2021 ◽  
Vol 2021 ◽  
pp. 1-16
Author(s):  
Ba-Phuc Huynh ◽  
Yong-Lin Kuo
Keyword(s):  
Pose Estimation ◽  
Unscented Kalman Filter ◽  
Vision System ◽  
Parallel Robot ◽  
Industrial Robots ◽  
Feature Points ◽  
Hybrid Filter ◽  
Color Feature ◽  
End Effector ◽  
Dynamic Hybrid

One of the problems with industrial robots is their ability to accurately locate the pose of the end-effector. Over the years, many other solutions have been studied including static calibration and dynamic positioning. This paper presents a novel approach for pose estimation of a Hexa parallel robot. The vision system uses three simple color feature points fixed on the surface of the end-effector to measure the pose of the robot. The Intel RealSense Camera D435i is used as a 3D measurement of feature points, which offers a cheap solution and high accuracy in positioning. Based on the constraint of three color feature points, the pose of the end-effector, including position and orientation, is determined. A dynamic hybrid filter is designed to correct the vision-based pose measurement. The complementary filter is used to eliminate the noise of image processing due to environmental light source interference. The unscented Kalman filter is designed to smooth out the pose estimation of the vision system based on robot’s kinematic parameters. The combination of two filters in the same control scheme contributes to increased stability and improved accuracy of robot’s positioning. The simulation, experiment, and comparison demonstrate the effectiveness and feasibility of the proposed method.

Real-time fuzzy-feedforward controller design by bacterial foraging optimization for an electrohydraulic system

2015 ◽  
Vol 45 ◽  
pp. 168-179 ◽  
Author(s):  
Pranibesh Mandal ◽  
Bikash Kumar Sarkar ◽  
Rana Saha ◽  
Amitava Chatterjee ◽  
Saikat Mookherjee ◽  
...  
Keyword(s):  
Real Time ◽  
Controller Design ◽  
Bacterial Foraging Optimization ◽  
Electrohydraulic System ◽  
Bacterial Foraging ◽  
Feedforward Controller
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