Modeling and Control of a Vision-Based Target Tracker Robot with Active Force Control Capability

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Sangdani m.h.; TAVAKOLPOUR SALEH A.R.

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Journal: Journal of Aerospace Mechanics Year:2018 | Volume:13 | Issue:4 (50) Page(s): 89-98

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Title

Modeling and Control of a Vision-Based Target Tracker Robot with Active Force Control Capability

Author(s)

Sangdani m.h. | TAVAKOLPOUR SALEH A.R. | Issue Writer Certificate

Keywords

Target Tracker RobotQ1

Active Force ControlQ1

Machine VisionQ1

Abstract

This paper focuses on modeling, simulation, and control of a vision-based target-tracker robot with Active Force Control (AFC) capability. The direct and inverse kinematics of the target-tracker robot is first investigated and then, dynamic equations governing the robot system are extracted using Euler-Lagrange approach. Afterward, the robot control system is simulated by three controllers namely proportional-integral-derivative control, computed torque control, and Active Force Control. Assuming a circle-like path for the movement of the target in camera coordinates, a circle trajectory is chosen as the reference input to the robot control system. One of the main challenging problems in such robotic systems is the existence of unwanted disturbance in military conditions, which results in deteriorating the performance of the control system. For instance, there is often a cyclic disturbance affecting the machine gun that reduces accuracy of the target tracking control system. In this work, the Active Force Control method as an efficient disturbance rejection technique is proposed to remove the disturbance affecting the robot system and its performance is evaluated under a sinusoidal disturbance. Furthermore, the performance of the AFC method is compared to the rest of the controllers. The obtained results clearly demonstrate the priority of the AFC approach in comparison with PID and computer torque control methods when the robot system is under disturbance.

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APA: Copy

Sangdani, m.h., & TAVAKOLPOUR SALEH, A.R.. (2018). Modeling and Control of a Vision-Based Target Tracker Robot with Active Force Control Capability. AEROSPACE MECHANICS JOURNAL, 13(4 (50) ), 89-98. SID. https://sid.ir/paper/101959/en

Vancouver: Copy

Sangdani m.h., TAVAKOLPOUR SALEH A.R.. Modeling and Control of a Vision-Based Target Tracker Robot with Active Force Control Capability. AEROSPACE MECHANICS JOURNAL[Internet]. 2018;13(4 (50) ):89-98. Available from: https://sid.ir/paper/101959/en

IEEE: Copy

m.h. Sangdani, and A.R. TAVAKOLPOUR SALEH, “Modeling and Control of a Vision-Based Target Tracker Robot with Active Force Control Capability,” AEROSPACE MECHANICS JOURNAL, vol. 13, no. 4 (50) , pp. 89–98, 2018, [Online]. Available: https://sid.ir/paper/101959/en

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