Manipulator tracking technology based on FSRUKF

doi:10.23919/JSEE.2024.000009

Journal of Systems Engineering and Electronics ›› 2024, Vol. 35 ›› Issue (2): 473-484.doi: 10.23919/JSEE.2024.000009

• CONTROL THEORY AND APPLICATION • Previous Articles

Manipulator tracking technology based on FSRUKF

Guoqing SHI¹(), Boyan ZHANG¹(), Jiandong ZHANG¹^,*(), Qiming YANG¹(), Xiaofeng HUANG¹(), Jianyao QUE¹(), Junwei PU¹(), Xiutang GENG²()

¹ School of Electronics and Information, Northwestern Polytechnical University, Xi’an 710072, China
² Northwest Institute of Mechanical & Electrical Engineering, Xianyang 712000, China

Received:2022-11-09 Online:2024-04-18 Published:2024-04-18
Contact: Jiandong ZHANG E-mail:shiguoqing@nwpu.edu.cn;forgetleft@mail.nwpu.edu.cn;jdzhang@nwpu.edu.cn;yangqm@nwpu.edu.cn;huangxf@mail.nwpu.edu.cn;1910717821@qq.com;mychineseheart@163.com;gengxiutang1@126.com
About author:
SHI Guoqing was born in 1974. He received his M.S. and Ph.D. degrees in system engineering from Northwestern Polytechnical University. He is an associate professor at the Department of System and Control Engineering in the School of Electronics and Information, Northwestern Polytechnical University, China. His research interests include integrated avionics system measurement and test technologies, development and design of embedded real-time systems, and modeling simulation and effectiveness evaluation of complex systems. E-mail: shiguoqing@nwpu.edu.cn

ZHANG Boyan was born in 1997. She is currently working toward her M.S. degree in electronics and information technology with the School of Electronics and Information, Northwestern Polytechnical University. Her research interests include manipulator tracking technology, artificial intelligence and its application in unmanned aerial vehicle control and decision.E-mail: forgetleft@mail.nwpu.edu.cn

ZHANG Jiandong was born in 1974. He received his M.S. and Ph.D. degrees in system engineering from Northwestern Polytechnical University. He is an associate professor at the Department of System and Control Engineering in the School of Electronics and Information at Northwestern Polytechnical University, China. His research interests include modeling simulation and effectiveness evaluation of complex systems, development and design of integrated avionics system, and system measurement and test technologies. E-mail: jdzhang@nwpu.edu.cn

YANG Qiming was born in 1988. He received his M.S. degree from Northwestern Polytechnical University (NPU), Xi’an, China, in 2013. He received his Ph.D. degree in electronic science and technology from NPU in 2020. He is an assistant researcher in the School of Electronics and Information at Northwestern Polytechnical University, China. His main research interests are artificial intelligence and its application on control and decision of unmanned aerial vehicle. E-mail: yangqm@nwpu.edu.cn

HUANG Xiaofeng was born in 1998. He received his B.S. degree in detection, guidance and control technology from Northwestern Polytechnical University, Xi’an, China. He is currently working toward his M.S. degree in control science and engineering with the School of Electronics and Information, Northwestern Polytechnical University. His research interests include avionics system, object detection and embedded system. E-mail: huangxf@mail.nwpu.edu.cn

QUE Jianyao was born in 1997. He received his B.S. degree in detection, guidance and control technology from Northwestern Polytechnical University, Xi’an, China. He is currently working toward his M.S. degree in electronics and information technology with the School of Electronics and Information, Northwestern Polytechnical University. His research interests include avionics integrated systems, aviation fire control, and simulation of complex subsystems. E-mail: 1910717821@qq.com

PU Junwei was born in 1995. He received his M.S. degree in the School of Electronics and Information from Northwestern Polytechnical University, Xi’an, China, in 2021. His research interests include embedded technology, manipulators, automation technology, container cluster management, and advanced RISC machine architecture chips. E-mail: mychineseheart@163.com

GENG Xiutang was born in 1975. He received his B.S degree in the School of Mechanical Engineering from Dalian Jiaotong University, Dalian, China, in 1999, and M.S. degree in the School of Electronics and Information from Northwestern Polytechnical University, Xi’an, China, in 2004. He received his Ph.D. degree in the Department of Control Science and Engineering from Huazhong University of Science and Technology, Wuhan, China, in 2008. His research interests include information, control and intelligence computation. E-mail: gengxiutang1@126.com
Supported by:
This work was supported by Natural Science Basic Research Program of Shaanxi (2022JQ-593) and Key Research and Development Program of Shaanxi (2022GY-089).

Abstract

Abstract:

Aiming at the shortcoming that the traditional industrial manipulator using off-line programming cannot change along with the change of external environment, the key technologies such as machine vision and manipulator control are studied, and a complete manipulator vision tracking system is designed. Firstly, Denavit-Hartenberg (D-H) parameters method is used to construct the model of the manipulator and analyze the forward and inverse kinematics equations of the manipulator. At the same time, a binocular camera is used to obtain the three-dimensional position of the target. Secondly, in order to make the manipulator track the target more accurately, the fuzzy adaptive square root unscented Kalman filter (FSRUKF) is proposed to estimate the target state. Finally, the manipulator tracking system is built by using the position-based visual servo. The simulation experiments show that FSRUKF converges faster and with less error than the square root unscented Kalman filter (SRUKF), which meets the application requirements of the manipulator tracking system, and basically meets the application requirements of the manipulator tracking system in the practical experiments.

Key words: square root unscented Kalman filter (SRUKF), fuzzy inference, manipulator, visual servo

Guoqing SHI, Boyan ZHANG, Jiandong ZHANG, Qiming YANG, Xiaofeng HUANG, Jianyao QUE, Junwei PU, Xiutang GENG. Manipulator tracking technology based on FSRUKF[J]. Journal of Systems Engineering and Electronics, 2024, 35(2): 473-484.

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Link serial number	Link rotation angle $ {\theta _i}/(^\circ ) $	Link offset $ {d_i}/{\mathrm{mm}} $	Link length $ {a_i}/{\mathrm{mm}} $	Link torsion angle $ {\alpha _i}/(^\circ ) $
1	$ {\theta _1} $	138	0	−90
2	$ {\theta _2} $	0	135	0
3	$ {\theta _3} $	0	147	0
4	$ {\theta _4} $	0	0	0

Input	Fuzzy division
[0,0.96]	LESS
[0.5,1.5]	EQUAL
[1.06,Inf]	MORE

Output	Fuzzy division
[0,0.98]	DECREASE
[0.6,1.4]	UNCHANGE
[1.02,Inf]	INCREASE

Algorithm	Number of experiments	Number of successful crawls/%	Success rate	Average tracking time/s
FSRUKF	20	17	85.00	0.74
SRUKF	20	15	75.00	0.91

Algorithm	Number of experiments	Number of successful crawls	Success rate/%	Average tracking time/s
FSRUKF	20	12	60.00	3.27
SRUKF	20	8	40.00	3.86

Manipulator tracking technology based on FSRUKF

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