Visual Servoing Experiment using a 3D Flexible-Link Manipulator
Visual Servoing Experiment using a 3D Flexible-Link Manipulator
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DOI：
10.1109/iros.2006.281880
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发表时间：
2006-10
期刊：
影响因子：
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通讯作者：
Xin Jiang;A. Konno;M. Uchiyama
中科院分区：
文献类型：
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作者：
Xin Jiang;A. Konno;M. Uchiyama
本文讨论了一种将视觉伺服应用于 3D 柔性连杆机械臂的方法。所提出的方法由基于手眼视觉伺服的末端执行器位置控制和振动抑制控制组成。为了解耦末端执行器位置控制和振动控制，末端执行器位置控制应用于低频域，而振动控制应用于高频域。为了解耦频域，使用高通滤波器和低通滤波器。通过考察系统的极点来分析整个系统的稳定性。使用所提出的方法，3D 柔性连杆机械手成功地将钉子插入间隙为 0.5 mm 的孔中。然而，如果没有力控制，软连杆机械臂很难将钉插入间隙为0.1mm的孔中。因此，阻抗控制也与末端执行器位置控制和振动控制一起进行测试。采用改进的方法，软连杆机械手成功地将钉子插入间隙为0.1 mm的孔中
This paper discusses an approach to apply visual servoing to a 3D flexible-link manipulator. The proposed approach is composed of an end-effector position control based on eye-in-hand visual servoing and a vibration suppression control. In order to decouple the end-effector position control and the vibration control, the end-effector position control is applied in a low frequency domain, while the vibration control is applied in a high frequency domain. To decouple the frequency domain, a high-pass filter and a low-pass filter are used. Stability of the whole system is analyzed by investigating the pole of the system. Using the proposed approach, the 3D flexible-link manipulator succeeds to insert a peg into a hole whose clearance is 0.5 mm. However, it is difficult for the flexible-link manipulator to insert the peg into a hole whose clearance is 0.1 mm, if there is no force control. Therefore, an impedance control is also tested together with the end-effector position control and the vibration control. Using the modified approach, the flexible-link manipulator succeeds to insert the peg into the hole whose clearance is 0.1 mm