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.

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

BASCETTA, LUCA;ROCCO, PAOLO
2006-01-01

Abstract

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.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/553630
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