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Fuzzy-PI double-layer stability control of an online vision-based tracking system

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Abstract

In many manufacturing processes (e.g., welding, spraying, coating adhesive), the control for the velocity in the main direction heavily affects operation quality. In addition to traditional manual operations, the industrial robot with a tracking system is capable of accurate and stable velocity control. In this paper, an intelligent robot tracking system is designed for implementing an appropriate velocity control and improving the performance of an autonomous system with online structured light vision tracking. For this aim, an effective tracking algorithm is proposed based on position-based visual servoing (PBVS), and motion compensation is implemented according to both detected path and taught path. To improve the adaptability of the system, a Fuzzy-PI double-layer controller is developed, which adjusts the movement of the end effector in both cases of large and small deviation. Welding experiments demonstrate the effectiveness of the proposed vision tracking system.

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Acknowledgements

The authors would like to gratefully acknowledge the reviewers comments. This work was supported by National Key R&D Program of China (Grant Nos.2019YFB1310200), National Natural Science Foundation of China (Grant Nos.U1713207) and Science and Technology Program of Guangzhou (Grant Nos.201904020020).

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Authors and Affiliations

  1. South China University of Technology Guangzhou, Guangzhou, China

    Nianfeng Wang, Kaifan Zhong, Xiaodong Shi & Xianmin Zhang

  2. Shenzhen Polytechnic, Shenzhen, P. R. China

    Liang Zhang

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  1. Nianfeng Wang
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  2. Kaifan Zhong
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  3. Xiaodong Shi
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  4. Xianmin Zhang
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  5. Liang Zhang
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Correspondence to Nianfeng Wang.

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Wang, N., Zhong, K., Shi, X. et al. Fuzzy-PI double-layer stability control of an online vision-based tracking system. Intel Serv Robotics 14, 187–197 (2021). https://doi.org/10.1007/s11370-021-00356-9

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  • DOI: https://doi.org/10.1007/s11370-021-00356-9

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