대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

LQG 시각추종제어기를 이용한 로봇매니퓰레이터의 제어

Control of Robot Manipulators Using LQG Visual Tracking Cotroller

  • Lim, Tai-Hun (Dept. of Electrical Engineering in Pusan National Univ.) ;
  • Jun, Hyang-Sig (Dept. of Aerospace Division, Daewoo Heavy Industries Co.,Ltd) ;
  • Choi, Young-Kiu (Dept. of Electrical Engineering in Pusan National Univ.) ;
  • Kim, Sung-Shin (Dept. of Electrical Engineering in Pusan National Univ.)
  • 발행 : 1999.07.19
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초록

Recently, real-time visual tracking control for a robot manipulator is performed by using a vision feedback sensor information. In this paper, the optical flow is computed based on the eye-in-hand robot configuration. The image jacobian is employed to calculate the rotation and translation velocity of a 3D moving object. LQG visual controller generates the real-time visual trajectory. In order to improving the visual tracking performance. VSC controller is employed to control the robot manipulator. Simulation results show a better visual tracking performance than other method.

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