Two-time scale visual servoing of eye-in-hand flexible manipulators

被引：22

作者：

Bascetta, Luca ^{[1
]}

Rocco, Paolo ^{[1
]}

机构：

[1] Politecn Milan, Dipartimento Elettron & Informaz, I-20133 Milan, Italy

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2006年 / 22卷 / 04期

关键词：

flexible manipulators; Lyapunov stability; two-time scale control; visual servoing; INVERSE KINEMATIC SOLUTIONS;

D O I：

10.1109/TRO.2006.878946

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Visual servoing of eye-in-hand flexible manipulators is addressed in. this paper. Dynamic effects of both the rigid and the flexible motion of the manipulator are fully taken into account in a control solution where the two-time scale nature of the problem is exploited. The visual information is used in the "slow" subsystem for a task-space-oriented control law, where computationally expensive operations, such as inverse and time derivative of the Jacobian, are avoided. A constructive proof of stability of this control scheme, based on Lyapunov theory, is also presented. The effectiveness of the proposed controller is shown by means of a numerical simulation concerning a trajectory tracking problem. Some experimental results finally demonstrate the precision enhancement achieved by the proposed algorithm on a single-link flexible manipulator.

引用

页码：818 / 830

页数：13

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