Control del Empuje de una Barra usando dos Robots Móviles y Visión Artificial

Bar-Pushing Control using two Mobile Robots and Machine Vision

  • Eval Bladimir Bacca Cortes Universidad del Valle
  • Eduardo Francisco Caicedo Bravo Universidad del Valle
Keywords: Robótica móvil, visión artificial, robótica cooperativa, empuje de una barra (es_ES)

Abstract (es_ES)

En este artículo se describe la solución del control del empuje de una barra usando dos robots móviles y una cámara de visión artificial como sensor global, cuyas aplicaciones directas son el transporte y manejo cooperativo de grandes objetos. La solución propuesta involucra a dos robots móviles cuya posición, orientación y velocidad son obtenidas a través de una cámara ubicada en la parte superior de la escena; cada robot posee un controlador de orientación independiente, cuyo objeto de control es el seguimiento de una trayectoria previamente definida; usando la cinemática de un robot móvil diferencial se modela y controla la orientación de la barra que los dos robots móviles empujan, la trayectoria descrita debe ser perpendicular a la barra. La solución descrita emplea un control digital tipo RST [1] para los controles de orientación de los robots, con TS=0.2s, =0.707, N = 3.5 rd/s y un error de estado estacionario promedio de aproximadamente 15%. El control de orientación de la barra manipula la velocidad de desplazamiento de los robots, el controlador usado fue un PD con: KP = 2.7, KD =0.2, = 2.807 y N = 3.539 rad/s y error de estado estacionario promedio de aproximadamente el 5.1%.

Abstract (en_US)

This paper describes a solution to the vision based bar pushing control using two robots, which direct applications are the cooperative transport and handle of big objects. The solution proposed involves two mobile robots which position, heading and velocity are gathering through a video camera placed on scene top; each robot has an independent heading controller,which control objective is the path following previously defined; using the kinematics' differential mobile robot the bar's model and its control is obtained, the bar is pushed with help of the two robots and its trajectory is perpendicular to it. The solution described use a RST [1] digital controller for the mobile robots' heading control, with TS=0.2s, x=0.707, wN = 3.5 rd/s and a stable state error mean of 15% approximately. The bar's heading control modifies the mobile robots' lineal velocity, a PD controller was used with: KP = 2.7, KD = 0.2, x = 2.807 y wN = 3.539 rad/s and a stable state error mean of 5.1% approximately.

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References

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How to Cite
Bacca Cortes, E. B., & Caicedo Bravo, E. F. (2005). Bar-Pushing Control using two Mobile Robots and Machine Vision. Ingeniería, 11(2), 71-79. https://doi.org/10.14483/23448393.2681
Published: 2005-11-30
Section
Ciencia, investigación, academia y desarrollo