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Дата издания
19.03.2026На каком языке издана
ISSN
2733-3382Область исследования
Тип исследования
Аннотация (краткое описание)
This paper presents a ROS 2-based intelligent control architecture for high-pre cision autonomous marking. The system integrates model predictive control (MPC) with du al-camera visual servoing to achieve submillimeter accuracy. A layered control stack combines global perception from an overhead camera with local correction from a tool-mounted camera, enabling accurate six-DoF pose estimation through fiducial markers and hand-eye calibra tion. Trajectory planning is formulated as a constrained optimization in CasADi, supporting real-time motion generation under workspace and actuator limits. Implemented on a 6-DOF collaborative arm with STM32-based RS-485 motor controllers, the system achieves final er rors of 0.7 mm and closed-loop frequencies near 8 Hz. Results demonstrate the viability of combining vision and optimal control in a modular ROS 2 framework for industrial automation.DOI
10.52209/1609-1825_2026_1_32Тип публикаций
Практическое значение
lies in the development of a ROS 2-based intelligent control architecture for high-precision autonomous marking systems, capable of achieving submillimeter positioning accuracy in industrial environments. The integration of model predictive control (MPC) with dual-camera visual servoing enables accurate real-time trajectory correction and robust six-degree-of-freedom pose estimation, improving the precision and reliability of automated marking operations.Impact Factor
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Статья 07.pdf