A Study on the Location and Range of Obstacle Region in Robot's Point Placement Task based on the Vision Control Algorithm
نویسنده
چکیده
This paper is concerned with the application of the vision control algorithm for robot's point placement task in discontinuous trajectory caused by obstacle. The presented vision control algorithm consists of four models, which are the robot kinematic model, vision system model, parameters estimation model, and robot joint angle estimation model.When the robot moves toward a target along discontinuous trajectory, several types of obstacles appear in two obstacle regions. Then, this study is to investigate how these changes will affect the presented vision control algorithm.Thus, the practicality of the vision control algorithm is demonstrated experimentally by performing the robot's point placement task in discontinuous trajectory by obstacle. Keywords—vision control algorithm, location of obstacle region, range of obstacle region, point placement
منابع مشابه
جانمایی دوربین در طراحی شبکههای فتوگرامتری صنعتی با استفاده از بهینهسازی تکاملی چندگانه
Nowadays, the subject of vision metrology network design is local enhancement of the existing network. In the other words, it has changed from first to third order design concept. To improve the network, locally, some new camera stations should be added to the network in drawback areas. The accuracy of weak points is enhanced by the new images, if the related vision constraints are satisfied si...
متن کاملEvaluation of Hemodynamic Response Function in Vision and Motor Brain Regions for the Young and Elderly Adults
Introduction: Prior studies comparing Hemodynamic Response Function (HRF) in the young and elderly adults based on fMRI data have reported inconsistent findings for brain vision and motor regions in healthy aging. It is shown that the averaging method employed in all previous works has caused this inconsistency. The averaging is so sensitive to outliers and noise. However, fMRI data are o...
متن کاملA Navigation System for Autonomous Robot Operating in Unknown and Dynamic Environment: Escaping Algorithm
In this study, the problem of navigation in dynamic and unknown environment is investigated and a navigation method based on force field approach is suggested. It is assumed that the robot performs navigation in...
متن کاملOn improving APIT algorithm for better localization in WSN
In Wireless Sensor Networks (WSNs), localization algorithms could be range-based or range-free. The Approximate Point in Triangle (APIT) is a range-free approach. We propose modification of the APIT algorithm and refer as modified-APIT. We select suitable triangles with appropriate distance between anchors to reduce PIT test errors (edge effect and non-uniform placement of neighbours) in APIT a...
متن کاملDynamic Obstacle Avoidance by Distributed Algorithm based on Reinforcement Learning (RESEARCH NOTE)
In this paper we focus on the application of reinforcement learning to obstacle avoidance in dynamic Environments in wireless sensor networks. A distributed algorithm based on reinforcement learning is developed for sensor networks to guide mobile robot through the dynamic obstacles. The sensor network models the danger of the area under coverage as obstacles, and has the property of adoption o...
متن کامل