Stitching Dynamic Movement Primitives and Image-Based Visual Servo Control
Stitching Dynamic Movement Primitives and Image-Based Visual Servo Control
复制标题
DOI：
10.1109/tsmc.2022.3214756
复制
发表时间：
2021-10
期刊：
影响因子：
--
通讯作者：
G. Rotithor;Iman Salehi;E. Tunstel;Ashwin P. Dani
中科院分区：
文献类型：
--
作者：
G. Rotithor;Iman Salehi;E. Tunstel;Ashwin P. Dani
将感知反馈控制与基于动态运动原语（DMP）的运动生成相结合用于机器人末端执行器控制是解决许多机器人制造任务的有效方法。例如，在执行插入任务时，当孔或接收部分在眼手相机中不可见时，可以使用基于学习的运动原语方法来生成末端执行器路径。一旦接收部件进入视场（FOV），基于图像的视觉伺服（IBVS）就可以用来控制机器人的运动。受此类应用的启发，本文提出了一种在使用DMP和IBVS控制的运动生成之间切换的通用控制方案。为了便于设计，首先建立了DMP和IBVS系统的公共状态空间表示。利用多个Lyapunov函数对切换系统进行了稳定性分析，结果表明状态轨迹渐近收敛于一个界。所开发的方法通过使用百特研究机器人的眼手配置的三个真实实验进行了验证。
Utilizing perception for feedback control in combination with dynamic movement primitive (DMP)-based motion generation for a robot’s end-effector control is a useful solution for many robotic manufacturing tasks. For instance, while performing an insertion task when the hole or the recipient part is not visible in the eye-in-hand camera, a learning-based movement primitive method can be used to generate the end-effector path. Once the recipient part is in the field of view (FOV), image-based visual servo (IBVS) can be used to control the motion of the robot. Inspired by such applications, this article presents a generalized control scheme that switches between motion generation using DMP and IBVS control. To facilitate the design, a common state-space representation for the DMP and the IBVS systems is first established. The stability analysis of the switched system using multiple Lyapunov functions shows that the state trajectories converge to a bound asymptotically. The developed method is validated by three real-world experiments using the eye-in-hand configuration of a Baxter research robot.