Publications

Recursos web y multimedia para la docencia de asignaturas de Robótica y Control Automático

La presente investigacion docente engloba la generacion de recursos web y multimedia. Para ello, se ha puesto a disposicion de los alumnos en una web mediante el gestor de contenidos Joomla. Ademas, se han creado materiales, que estan disponibles en la web para los alumnos, que incluyen presentaciones y grabaciones en video de las clases. De esta manera, los alumnos pueden volver a ver una clase con el objetivo de reforzar los conocimientos adquiridos o seguir la docencia si, por algun motivo, no pudieron asistir. La plataforma propuesta se ha probado con las asignaturas Sistemas de Control Automatico y Robotica del Master Universitario en Automatica y Robotica.

Adaptive Visual Servoing by Simultaneous Camera Calibration

Calibration techniques allow the estimation of the intrinsic parameters of a camera. This paper describes an adaptive visual servoing scheme which employs the visual data measured during the task to determine the camera intrinsic parameters. This approach is based on the virtual visual servoing approach. However, in order to increase the robustness of the calibration several aspects have been introduced in this approach with respect to the previous developed virtual visual servoing systems. Furthermore, the system is able to determine the value of the intrinsic parameters when they vary during the task. This approach has been tested using an eye-in-hand robotic system.

Automatic robotic tasks in unstructured environments using an image path tracker

Virtual remote laboratory for teaching of computer vision and robotics in the University of Alicante

Comunicacion presentada en IBCE'04, Second IFAC Workshop on Internet Based Control Education, 5-7 septiembre 2004, Grenoble, Francia

Spacecraft visual servoing with adaptive zooming for non-cooperative rendezvous

The utilization of zooming cameras during a non-cooperative rendezvous in space is investigated in this paper. An image-based controller, utilizing visual servoing techniques usually applied to ground-based robotic systems, is designed for the particular problem of far-to-close approach of a spacecraft to a non-cooperative object. The controller directly utilizes the visual features from image frames of the noncooperative target for computing both attitude and orbital maneuvers concurrently. The additional feature derived from the utilization of the zooming camera gives a greater versatility to the maneuvers if compared with the classic fixed optics approaches. The stability of the proposed controller is proven analytically in the invariant space, and its viability is explored through the application to a realistic space debris removal scenario.

Adaptación de la asignatura Robots y Sistemas Sensoriales al Espacio Europeo de Educación Superior

Nonlinear optimal control for a 4-DOF SCARA robotic manipulator

IMMERSIVE LEARNING USING VIRTUAL REALITY AND AUGMENTED REALITY BASED ON VISUAL SERVOING: APPLICATION TO STUDENTS WITH SPECIAL EDUCATIONAL NEEDS

Nonlinear optimal control for a spherical rolling robot

Utilización de un joystick económico en una interfaz de teleoperación basada en Java

En los ultimos anos se han desarrollado bastantes laboratorios virtuales para la simulacion y teleoperacion de robots orientados a la docencia, que permiten a numerosos grupos de alumnos realizar practicas de robotica, sin que la institucion docente deba afrontar los grandes costes economicos que implicaria disponer de equipos reales. Pero la gran mayoria de estos entornos disponen de una interfaz de usuario que solo permite al alumno interactuar con el robot mediante los clasicos dispositivos del teclado y raton. En este articulo se expone como se puede utilizar un joystick economico en la interfaz de usuario de un laboratorio virtual de robotica desarrollada en Java, presentando los problemas que pueden surgir y una arquitectura software que permite resolverlos.

Control visual para el seguimiento de móviles en un plano

Las aplicaciones de este tipo de sistemas son muy amplias, asi, encontramos trabajos en la actualidad en los que se describe algunas de ellas como en [5] que usa la alta resolucion de un dispositivo optico, por ejemplo, un microscopio, para realizar el microposicionamiento de las partes implicadas realizando una servo-visualizacion. Corke, Roberts y Winstanley [2], describen una aplicacion para la industria minera. De nuevo, en [10] encontramos una aplicacion de visual servoing aplicada a la robotica, en este caso se trata de aplicar a tareas de navegacion de un robot el conocimiento proporcionado de la realimentacion visual.

Diseño de un Sistema de Control para una Estación de Calibración de Sensores de Capnografía

A nonlinear optimal control approach for 3-DOF four-cable driven parallel robots

Abstract In this article, a nonlinear optimal control approach is proposed for the dynamic model of 3-DOF four-cable driven parallel robots (CDPR). To solve the associated nonlinear optimal control problem, the dynamic model of the 3-DOF cable-driven parallel robot undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method. The linearization relies on Taylor series expansion and on the associated Jacobian matrices. For the linearized state-space model of the 3-DOF cable-driven parallel robot a stabilizing optimal (H-infinity) feedback controller is designed. To compute the controller’s feedback gains an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm. The stability properties of the control method are proven through Lyapunov analysis. The proposed nonlinear optimal control approach achieves fast and accurate tracking of reference setpoints under moderate variations of the control inputs and a minimum dispersion of energy.

Improving tracking trajectories with motion estimation

This work was funded by the Spanish MCYT project DPI2005-06222 “Diseno, implementacion y experimentacion de escenarios de manipulacion inteligentes para aplicaciones de ensamblado y desensamblado automatico” and by the project GV05/007: “Diseno y experimentacion de estrategias de control visual-fuerza para sistemas flexibles de manipulacion”.

ROBOT GUIDANCE BY ESTIMATING THE FORCE-IMAGE INTERACTION MATRIX

Flatness-Based Control in Successive Loops for Autonomous Quadrotors

Abstract The control problem for the multivariable and nonlinear dynamics of unmanned rotorcrafts is treated with the use of a flatness-based control approach which is implemented in successive loops. The state-space model of 6DOF autonomous quadrotors is separated into two subsystems, which are connected between them in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input–output linearized flat systems. The state variables of the second subsystem become virtual control inputs for the first subsystem. In turn, exogenous control inputs are applied to the second subsystem. The whole control method is implemented in two successive loops and its global stability properties are also proven through Lyapunov stability analysis. The validity of the control method is further confirmed through simulation experiments showing precise tracking of 3D flight paths by the 6DOF quadrotor.

Agarre bimanual de objetos asistido por visión

espanolLas tareas de manipulacion de objetos, en ocasiones, requieren hacer uso de dos o mas robots cooperando. En la industria 4.0 cada vez es mas demandada la robotica asistencial por ejemplo para llevar a cabo tareas como levantar, arrastrar o empujar un bulto/paquete de elevado peso y/o de ciertas dimensiones. Por lo que cada vez es mas frecuente encontrar robots con forma humana destinados a ayudar al operario humano en actividades en las que se dan este tipo de movimientos. En este articulo se presenta una plataforma robotica asistida por vision para llevar a cabo tare- as de agarre y manipulacion bimanual de objetos. La plataforma robotica consta de un torso metalico con articulacion rotacional en la cadera y de dos manipuladores industriales, de 7 grados de libertad, que actuan como brazos y que a su vez montan en sus extremos sendas manos roboticas multidedo. Cada una de las extremidades superiores esta dotada de percepcion visual, ya que hacen uso de 2 sensores RGBD ubicados en configuracion eye-to-hand. La plataforma ha sido empleada y testeada con exito para llevar a cabo agarres bimanuales de objetos en aras de poder desarrollar tareas de manipulacion cooperativa de manera coordinada entre ambas extremidades. EnglishManipulation tasks of objects, sometimes, requires the use of two or more cooperating robots. In the industry 4.0, assistance robotic is being more and more demanded, for example, to carry out tasks such as lifting, dragging or pushing of both heavy and big packages. Consequently, it is possible to find robots with human appearance addressed on helping human operators in activities in which these types of movements occur. In this article, a vision-assisted robotic platform is presented to carry out both grasping tasks and bimanual manipulation of objects. The robotic platform consists of a metallic torso with rotational joint at the hip and two industrial manipulators, with 7 degrees of freedom, which act as arms. Each arm mounts a multi-finger robotic hand at the end. Each of the upper extremities use visual perception from 3 RGBD sensors located in an eye-to-hand configuration. The platform has been successfully used and tested to carry out bi- manual object grasping in order to develop cooperative manipulation tasks in a coordinated way between both robotic extremities

Control Visual Basado en Flujo de Movimiento para el Seguimiento de Trayectorias con Oclusiones