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Robust Hybrid Visual Servoing of Omnidirectional Mobile Manipulator With Kinematic Uncertainties Using a Single Camera
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Publication Year
2024-05-01
Journal
IEEE Transactions on Cybernetics
Publisher
Institute of Electrical and Electronics Engineers Inc.
Citation
IEEE Transactions on Cybernetics, Vol.54 No.5, pp.2824-2837
Keyword
Integral sliding-mode control (ISMC)integral sliding-mode observer (ISMO)kinematic uncertaintiesomnidirectional mobile manipulator (OMM)robust hybrid visual servoing (HVS)
Mesh Keyword
Integral sliding modeIntegral sliding mode controlIntegral sliding-mode controlIntegral sliding-mode observerKinematic uncertaintyOmnidirectional mobile manipulatorRobust hybrid visual servoingSliding-mode observerUncertaintyVisual-servoing
All Science Classification Codes (ASJC)
SoftwareControl and Systems EngineeringInformation SystemsHuman-Computer InteractionComputer Science ApplicationsElectrical and Electronic Engineering
Abstract
A robust hybrid visual servoing (HVS) method for a single camera-mounted omnidirectional mobile manipulator (OMM) with kinematic uncertainties caused by slipping is proposed herein. Most existing studies pertaining to the visual servoing of mobile manipulators do not consider the kinematic uncertainties and the singularity of the manipulator that can occur during actual operations; furthermore, they required external sensors other than a single camera. In this study, the kinematics of an OMM are modeled considering kinematic uncertainties. Accordingly, an integral sliding-mode observer (ISMO) is designed to estimate the kinematic uncertainties. Subsequently, an integral sliding-mode control (ISMC) law is proposed to achieve robust visual servoing using the estimates of the ISMO. Additionally, an ISMO-ISMC-based HVS method is proposed to address the singularity issue of the manipulator; this method guarantees both robustness and finite-time stability in the presence of kinematic uncertainties. Overall, the entire visual servoing task is performed using only a single camera attached to the end effector without any other external sensors, unlike in previous studies. The stability and performance of the proposed method are verified numerically and experimentally in a slippery environment that generates kinematic uncertainties.
ISSN
2168-2275
Language
eng
URI
https://aurora.ajou.ac.kr/handle/2018.oak/33270
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85149397755&origin=inward
DOI
https://doi.org/10.1109/tcyb.2023.3238820
Journal URL
https://www.ieee.org/membership-catalog/productdetail/
Type
Article
Funding
This work was supported by the National Research Foundation of Korea (NRF) Grant funded by the Korea Government (MSIT) under Grant 2020R1A2C101226111.
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Chwa, Dongkyoung Image
Chwa, Dongkyoung좌동경
Department of Electrical and Computer Engineering
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