Physical Sciences and Mathematics Commons^™

Module: Robot Senses, Mohammad Azhar

Open Educational Resources

Learning Objectives:

Students will be able to:

• Describe the basics of Sensors

• Learn how to program the LEGO Robot to make decision using touch sensors

Module: Robot Locomotion Mini Hackathon, Mohammad Azhar

Open Educational Resources

Learning Objectives:

Students will be able to:

• Describe the basics of Robots.

• Describe basic hardware and software of the LEGO Robot.

• Write sequential code for LEGO Robot to move.

Uncalibrated Visual Servoing Based On Kalman Filter Optimized By Spsa, Jinqiang Zhang, Xianxia Zhang

Journal of System Simulation

Abstract: Considering the problem of robot uncalibrated visual servoing, this paper presents a method for online estimation of image Jacobian matrix based on Kalman filter optimized by simultaneous perturbation stochastic approximation algorithm. This method takes the robot image Jacobian matrix as the system state, and uses Kalman filter to observe the system state. In order to improve the performance of the filter, the simultaneous perturbation stochastic approximation algorithm is used to optimize the filter parameters. This method is used to estimate the image Jacobian matrix and to design the control strategy, which can avoid complicated system calibration process. The simulation …