Robot Motion Control with Compressive Feedback

Robot motion control aims to generate control inputs for a robotic system to track a planned trajectory. Feedback provided by sensors plays an essential role in motion control by improving system performance when external disturbances and/or initial errors exist. However, feedback signals, such as images are often of a large size, which imposes a heavy computational burden on the system. In this paper, a new robot motion control scheme is proposed based on compressive feedback to improve feedback rate. The controller is designed in non-vector space using compressive feedback. As an application, visual servoing is formulated under the proposed framework by considering a feedback image as a set, instead of a traditional feature vector. Experiments are conducted to validate the proposed scheme.

Authors

• Congjian Li
• Song Wang
• Siyu Wang
• Sheng Bi
• Yisheng Guan
• Ning Xi 0001

Keywords

• Robot motion
• Image coding
• Tracking
• System performance
• Surgery
• Aerospace electronics
• Robot sensing systems
• Motor Control
• Robot Motion Control
• Control Strategy
• Feedback Signal
• Evaluative Feedback
• Visual Servoing
• System Dynamics
• Optimal Control
• Control Signal
• Feedback Control
• Geometric Features
• Elements
• Autonomous Vehicles
• Translational Motion
• Feedback Information
• Robotic Arm
• Random Matrix
• Steady-state Error
• Image Compression
• Illumination Variations
• Compression Scheme
• Spatial Velocity
• Closed-loop Strategy
• Camera Motion