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Control of an Electro-Hydraulic Manipulator by Vision System Using Central Point of a Marker Estimated via Kalman Filter

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Challenges in Automation, Robotics and Measurement Techniques (ICA 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 440))

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Abstract

In the paper, the vision system for control a electro-hydraulic manipulator is presented. The authors have proposed a Kalman Filter (KF) to estimate a central position of markers. Two different methods of initial estimation of markers position are used. First one is based on central point of marker’s mass. Second refers to a circle fitting method of binary object. These two methods theoretically give the same position of a central point of given marker, however, in case of image distortion results will have different errors. This can occur when operator is holding marker in a hand, and cover some parts of it. Therefore it is important to develop new robust method for marker tracking. Authors proposed Kalman Filter to estimate central point of a marker by making a fusion of information provided by two initial estimation methods. The conducted research proved that KF reduces total manipulator’s control error even in situation where \(30\,\%\) of marker area is invisible.

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Acknowledgments

The work is partially sponsored by the project “Scholarship support for PH.D. students specializing in majors strategic for Wielkopolska’s development”, Sub-measure 8.2.2 Human Capital Operational Programme, co-financed by European Union under the European Social Fund.

The work described in this paper was funded from 02/23/DS-PB/1208 project (Nowe techniki w urzadzeniach mechatronicznych).

Author information

Authors and Affiliations

  1. Institute of Mechanical Technology, Poznań University of Technology, 60-965, Poznań, Poland

    Piotr Owczarek, Dominik Rybarczyk & Arkadiusz Kubacki

  2. Institute of Control and Information Engineering, Poznań University of Technology, 60-965, Poznań, Poland

    Jarosław Gośliński

Authors
  1. Piotr Owczarek
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  2. Jarosław Gośliński
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  3. Dominik Rybarczyk
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  4. Arkadiusz Kubacki
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Corresponding author

Correspondence to Piotr Owczarek .

Editor information

Editors and Affiliations

  1. Automation and Measurements PIAP, Industrial Research Institute for, Warsaw, Poland

    Roman Szewczyk

  2. Automation and Measurements PIAP, Industrial Research Institute for, Warsaw, Poland

    Cezary Zieliński

  3. Automation and Measurements PIAP, Industrial Research Institute for, Warsaw, Poland

    Małgorzata Kaliczyńska

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Owczarek, P., Gośliński, J., Rybarczyk, D., Kubacki, A. (2016). Control of an Electro-Hydraulic Manipulator by Vision System Using Central Point of a Marker Estimated via Kalman Filter. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Challenges in Automation, Robotics and Measurement Techniques. ICA 2016. Advances in Intelligent Systems and Computing, vol 440. Springer, Cham. https://doi.org/10.1007/978-3-319-29357-8_51

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  • DOI: https://doi.org/10.1007/978-3-319-29357-8_51

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-29356-1

  • Online ISBN: 978-3-319-29357-8

  • eBook Packages: EngineeringEngineering (R0)

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