Current Search: Optimal trajectory design -- Bio-inspired motion strategies -- Visual servoing -- Robotics -- Optimal control -- Analysis of manipulators (x)
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Title
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Bio-Inspired Visual Servo Control of a Picking Mechanism in an Agricultural Ground Robot.
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Creator
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Defterli, Sinem, Xu, Yunjun, Kauffman, Jeffrey L., Lin, Kuo-Chi, Song, Sang-Eun, Zheng, Qipeng, University of Central Florida
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Abstract / Description
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For a recently constructed disease detection agricultural ground robot, the segregation of unhealthy leaves fromstrawberry plants is a major task of the robot's manipulation subsystem in field operations. In this dissertation, the motion planning of a custom-designedpicking mechanism in the ground robot's subsystem is studied in two sections. First, a set of analytical, suboptimal semi-analyticaland numerical algorithms are studied to solve the inverse kinematics problem of the handling...
Show moreFor a recently constructed disease detection agricultural ground robot, the segregation of unhealthy leaves fromstrawberry plants is a major task of the robot's manipulation subsystem in field operations. In this dissertation, the motion planning of a custom-designedpicking mechanism in the ground robot's subsystem is studied in two sections. First, a set of analytical, suboptimal semi-analyticaland numerical algorithms are studied to solve the inverse kinematics problem of the handling mechanism in firmcircumstances. These premeditated approaches are built on the computation of the joint variables by an identified 3Dposition data of the target leaf only. The outcomes of the three solution algorithms are evaluated in terms of the performanceindexes of energy change and the CPU time cost. The resultant postures of the mechanism for different target pointlocations are observed both in simulations and the hardware experiments with each IK solution. Secondly, after the manipulation task of the mechanism via the proposed inverse kinematicalgorithms is performed, some compensation may be needed due to the sudden and unpredicted deviation of the targetposition under field conditions.For the purpose of finding optimal joint values under certain constraints, a trajectory optimization problem in image-based visual servoing method via the camera-in-handconfiguration is initiated when the end-effector is in the close proximity of the target leaf. In this part of the study, a bio-inspired trajectory optimization problem in image-basedvisual servoing method is constructed based on the mathematical model derived from the prey-predatorrelationships in nature. In this biological phenomenon, the predator constructs its path in a certain subspace whilecatching the prey. When this motion strategy is applied to trajectory optimization problems, it causes a significantreduce in the computation cost since it finds the optimum solution in a certain manifold. The performance of the introducedbio-inspired trajectory optimization in visual servoing is validated with the hardware experiments both in laboratory settings and in fieldconditions.
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Date Issued
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2018
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Identifier
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CFE0007170, ucf:52247
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Format
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Document (PDF)
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PURL
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http://purl.flvc.org/ucf/fd/CFE0007170
