Visual servoing with nonlinear observer
Visual servoing with nonlinear observer
复制标题
非线性观测器的视觉伺服
DOI：
10.1109/robot.1995.525330
复制
发表时间：
1995
期刊：
影响因子：
--
通讯作者：
H. Kimura
中科院分区：
文献类型：
--
作者：
K. Hashimoto;H. Kimura
视觉伺服系统是将视觉传感器引入反馈回路的机器人控制系统。由于机器人控制器也在视觉伺服回路中，因此机器人动态补偿对于高速任务是重要的。此外，由于视觉信息包含相当大的延迟，因此对目标运动的估计对于真实的时间跟踪是必要的。提出了一种基于非线性模型的视觉伺服控制器和非线性观测器。观测器估计目标运动，非线性控制器根据估计的目标运动使闭环系统渐近稳定。通过对两连杆平面直接驱动机器人的仿真和实验，验证了基于观测器的控制器的有效性。
Visual servo system is a robot control system which incorporates the vision sensor in the feedback loop. Since the robot controller is also in the visual servo loop, compensation of the robot dynamics is important for high speed tasks. Moreover estimation of the object motion is necessary for real time tracking because the visual information includes considerable delay. This paper proposes a nonlinear model-based controller and a nonlinear observer for visual servoing. The observer estimates the object motion and the nonlinear controller makes the closed loop system asymptotically stable based on the estimated object motion. The effectiveness of the observer-based controller is verified by simulations and experiments on a two link planar direct drive robot.