Visual Servoing Controller for Mobile Manipulation Research PackageRP 10 ESR Mohammad M Aref Supervisor Jouni Mattila Organization Tampere University of Technology ID: 548782
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A Macro-Micro Visual Servoing Controller for Mobile Manipulation
Research Package(RP): 10
ESR: Mohammad M. ArefSupervisor: Jouni MattilaOrganization: Tampere University of TechnologyProject: 06/2011 – 06/2014
Presented by: Reza GhabchelooSlide2
Background Information
Work Package
WP3: Remote Handling Software Platforms
Research Package
RP10: Fault-tolerant
r
emote handling control systems
ESR
Mohammad
M. Aref
Organization
Department of Intelligent Hydraulics and Automation (IHA),
Tampere University of Technology(TUT), Finland
Supervisor
Prof. Jouni Mattila
PhD Supervisors:
Prof. Jouni Mattila
and
Prof.
Reza
Ghabcheloo
Start date
23.06.2011
Finish date
30.06.2014Slide3
Project results &Learning outcomeSystem engineering concepts for mobile manipulation in scientific infrastructuresControl system architecture and fault tolerance
Visual servoing…other relevant skills through numerous PURESFAE workshopsSlide4
… in detailsResearch on mobile manipulators:Sensor fusion and fault
toleranceVisual servoing and base manipulator coordination
Several SE documents as part of the PURESAFE project deliverables: “System Requirement Document for Mobile Manipulation in CERN infrastructures”. “Architectural Design Document of the iMoro Mobile Manipulator”. “Detailed Design Description Document of the iMoro Mobile Manipulator”. “Integration and Acceptance Test Document of the iMoro Mobile Manipulator”.
A highly maneuverable Modular Mobile Manipulator System (MMMS)
Designed and built at IHA/TUT, based
on the statement of need (PURESAFE ANNEX
Ι)
Based
on the requirements gathered
and
presented in the project requirements document and approved by the project partners.
Test platform for verifying reliable
high performance motion controller for the mobile
platforms
Mechatronics
design and system integration of iMoro:Slide5
Research use cases
Finnish center of excellence: Generic Intelligent Machines Research (2008-2013) Future intelligent mobile working machines and field robots.
GIM
Development of mobile manipulation technology for ionizing radiation environmentsSlide6
GIM machine pallet pickingChallengesRough terrainInaccurate actuatorsBig dimensions(resolution, calibration)Exception handlingCoordinated motionSlide7
Micro – Macrocontrol system architecture
Macro (platform)Steering and driveMicro (manipulator)boom, telescope, fork Slide8
Architecture in some detailsSlide9
Main objective F F* Error space two orthogonal spaces:F F* and B B*
Micro control assuming Macro errors are small: B=B*
Control in some detailsSlide10
Local localizationsmoothens the vision output (vision:
every 300ms)provides
20Hz pose estimate, negligible delaysworks even when markers in shadow
or lostMacro-Micro coordination and exception handlingMacro waits for Micro (
no need for tight coordination)Terminate/
replan
in case of delayed detection
Redundancy resolution,…
Detection and filtering
(local localization)Slide11Slide12
ExperimentsSlide13
ExperimentsSlide14
PublicationsM. M. Aref, R. Oftadeh, R. Ghabcheloo, and J. Mattila, “Fault Tolerant Control Architecture Design for Mobile Manipulation in Scientific Facilities”, International Journal of Advanced Robotic Systems, InTech, December 2014.M. M. Aref, R. Ghabcheloo, J. Mattila, “A Macro-Micro Controller for Pallet Picking by an Articulated-Frame-Steering Hydraulic Mobile Machine”, IEEE International Conference on Robotics and Automation, ICRA2014 (May 31-June 5, 2014), Hong Kong Convention and Exhibition Center, Hong Kong.R. Oftadeh, M. M. Aref, R. Ghabcheloo, and J. Mattila, “System Integration for Real-time Mobile Manipulation”, International Journal of Advanced Robotic Systems, vol 11, no. 51, InTech, 2014.Slide15
PublicationsM. M. Aref, R. Ghabcheloo, A. Kolu, M. Hyvönen, J. Mattila, K. Huhtala, "Position Based Visual Servoing for Pallet Picking by an Articulated-frame-steering Hydraulic Mobile Machine", The 6th IEEE International Conference on Robotics, Automation and Mechatronics, RAM2013 (November 12-15, 2013), Manila, Philippines.R. Oftadeh, M. M. Aref, R. Ghabcheloo, and J. Mattila, “Mechatronic Design of a Four Wheel Steering Mobile Robot with Fault-Tolerant Odometry Feedback” in the proceedings of The 6th IFAC Symposium on Mechatronic Systems (Mechatronics '13) Zhejiang University, Hangzhou, China, April 10-12, 2013.R. Oftadeh Mohammad M. Aref, Reza Ghabcheloo, Jouni Mattila,”Unified Framework for Rapid Prototyping of Linux based Real-Time Controllers with Matlab and Simulink”, Accepted to present in the 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), KaoHsiung, Taiwan.Slide16
Currently working onExtension of these ideas to iMoro, a four wheel steering mobile manipulator with 6 DOF arm.Macro-Micro coordinationSensor fusion: vision IMU / body kinematic constraint / object motion constraintAddressing manipulator torque limits in tracking performance: aggressive maneuversSlide17
Much remains to be doneSlide18
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