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A vision-based positioning system with inverse dead-zone control for dual-hydraulic manipulators

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSNConference contribution/Paperpeer-review

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A vision-based positioning system with inverse dead-zone control for dual-hydraulic manipulators. / West, Craig; Monk, Stephen David; Montazeri, Allahyar et al.
2018 UKACC 12th International Conference on Control (CONTROL). IEEE, 2018. p. 379-384.

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSNConference contribution/Paperpeer-review

Harvard

West, C, Monk, SD, Montazeri, A & Taylor, CJ 2018, A vision-based positioning system with inverse dead-zone control for dual-hydraulic manipulators. in 2018 UKACC 12th International Conference on Control (CONTROL). IEEE, pp. 379-384, 12th UKACC International Conference on Control, Sheffield, United Kingdom, 5/09/18. https://doi.org/10.1109/CONTROL.2018.8516734

APA

Vancouver

West C, Monk SD, Montazeri A, Taylor CJ. A vision-based positioning system with inverse dead-zone control for dual-hydraulic manipulators. In 2018 UKACC 12th International Conference on Control (CONTROL). IEEE. 2018. p. 379-384 doi: 10.1109/CONTROL.2018.8516734

Author

Bibtex

@inproceedings{b9701fb51975464480b5ef53e6f5d030,
title = "A vision-based positioning system with inverse dead-zone control for dual-hydraulic manipulators",
abstract = "The robotic platform in this study is being used for research into assisted tele-operation for common nuclear decommissioning tasks, such as remote pipe cutting. It has dual, seven-function, hydraulically actuated manipulators mounted on a mobile base unit. For the new visual servoing system, the user selects an object from an on-screen image, whilst the computer control system determines the required position and orientation of the manipulators; and controls the joint angles for one of these to grasp the pipe and the second to position for a cut. Preliminary testing shows that the new system reduces task completion time for both inexperienced and experienced operators, in comparison to tele-operation. In a second contribution, a novel state-dependent parameter (SDP) control system is developed, for improved resolved motion of the manipulators. Compared to earlier SDP analysis of the same device, which used a rather ad hoc scaling method to address the dead-zone, a state-dependent gain is used to implement inverse dead-zone control. The new approach integrates input signal calibration, system identification and nonlinear control design, allowing for straightforward recalibration when the dynamic characteristics have changed or the actuators have deteriorated due to age.",
keywords = "assisted tele-operation, inverse dead-zone, hydraulic manipulators, state-dependent parameter, nuclear decommissioning, robotics, system identification",
author = "Craig West and Monk, {Stephen David} and Allahyar Montazeri and Taylor, {C. James}",
note = "{\textcopyright}2018 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.; 12th UKACC International Conference on Control ; Conference date: 05-09-2018 Through 07-09-2018",
year = "2018",
month = sep,
day = "5",
doi = "10.1109/CONTROL.2018.8516734",
language = "English",
isbn = "9781509064113",
pages = "379--384",
booktitle = "2018 UKACC 12th International Conference on Control (CONTROL)",
publisher = "IEEE",
url = "https://control2018.group.shef.ac.uk/",

}

RIS

TY - GEN

T1 - A vision-based positioning system with inverse dead-zone control for dual-hydraulic manipulators

AU - West, Craig

AU - Monk, Stephen David

AU - Montazeri, Allahyar

AU - Taylor, C. James

N1 - ©2018 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

PY - 2018/9/5

Y1 - 2018/9/5

N2 - The robotic platform in this study is being used for research into assisted tele-operation for common nuclear decommissioning tasks, such as remote pipe cutting. It has dual, seven-function, hydraulically actuated manipulators mounted on a mobile base unit. For the new visual servoing system, the user selects an object from an on-screen image, whilst the computer control system determines the required position and orientation of the manipulators; and controls the joint angles for one of these to grasp the pipe and the second to position for a cut. Preliminary testing shows that the new system reduces task completion time for both inexperienced and experienced operators, in comparison to tele-operation. In a second contribution, a novel state-dependent parameter (SDP) control system is developed, for improved resolved motion of the manipulators. Compared to earlier SDP analysis of the same device, which used a rather ad hoc scaling method to address the dead-zone, a state-dependent gain is used to implement inverse dead-zone control. The new approach integrates input signal calibration, system identification and nonlinear control design, allowing for straightforward recalibration when the dynamic characteristics have changed or the actuators have deteriorated due to age.

AB - The robotic platform in this study is being used for research into assisted tele-operation for common nuclear decommissioning tasks, such as remote pipe cutting. It has dual, seven-function, hydraulically actuated manipulators mounted on a mobile base unit. For the new visual servoing system, the user selects an object from an on-screen image, whilst the computer control system determines the required position and orientation of the manipulators; and controls the joint angles for one of these to grasp the pipe and the second to position for a cut. Preliminary testing shows that the new system reduces task completion time for both inexperienced and experienced operators, in comparison to tele-operation. In a second contribution, a novel state-dependent parameter (SDP) control system is developed, for improved resolved motion of the manipulators. Compared to earlier SDP analysis of the same device, which used a rather ad hoc scaling method to address the dead-zone, a state-dependent gain is used to implement inverse dead-zone control. The new approach integrates input signal calibration, system identification and nonlinear control design, allowing for straightforward recalibration when the dynamic characteristics have changed or the actuators have deteriorated due to age.

KW - assisted tele-operation

KW - inverse dead-zone

KW - hydraulic manipulators

KW - state-dependent parameter

KW - nuclear decommissioning

KW - robotics

KW - system identification

U2 - 10.1109/CONTROL.2018.8516734

DO - 10.1109/CONTROL.2018.8516734

M3 - Conference contribution/Paper

SN - 9781509064113

SP - 379

EP - 384

BT - 2018 UKACC 12th International Conference on Control (CONTROL)

PB - IEEE

T2 - 12th UKACC International Conference on Control

Y2 - 5 September 2018 through 7 September 2018

ER -