Design of Cost-Aware Open-Loop Controller For Non-Linearity Compensation Without Embedded Sensors Using Computer Vision

  • Rodrigo Passos Sousa UFS
  • Daniel Augusto Santos Franco UFS
  • Weslley Alves Farias UFCG
  • David Oliveira Santos UFS
  • Lázaro Alberto de Araújo Menezes UFS
  • Lucas Molina UFS

Resumo


This paper presents a methodology of identification to dynamic modeling for designing an open-loop controller that linearizes the relationship between linear and angular velocities, in the stationary state, of a differential robot with respect to motor speed commands. The proposed approach is particularly valuable to make a nonlinearity compensation for low-cost robots that lack onboard sensing capabilities. By utilizing visual measurements obtained from cameras, i.e. third-person, the sensorless identification process enables the design of an open-loop controller without the need for embedded sensors. This cost-effective solution facilitates the application of linear dynamic controllers in robotic systems where precise control and linear dynamics are required, even in scenarios with limited resources. The proposed methodology offers a practical and accessible solution for enhancing the capabilities of low-cost robots and expanding their range of applications.
Palavras-chave: open-loop controller, differential robot, identification process, nonlinearity compensation, third-person
Publicado
09/10/2023
SOUSA, Rodrigo Passos; FRANCO, Daniel Augusto Santos; FARIAS, Weslley Alves; SANTOS, David Oliveira; MENEZES, Lázaro Alberto de Araújo; MOLINA, Lucas. Design of Cost-Aware Open-Loop Controller For Non-Linearity Compensation Without Embedded Sensors Using Computer Vision. In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 15. , 2023, Salvador/BA. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2023 . p. 200-205.