The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Dynamic Visual Servoing of Robot Manipulators

로봇 메니퓰레이터의 동력학 시각서보

  • 백승민 (성균관대 전기전자 및 컴퓨터공학과) ;
  • 임경수 (성균관대 전기전자 및 컴퓨터공학과) ;
  • 한웅기 (국방과학연구소) ;
  • 국태용 (성균관대 전기전자 및 컴퓨터공학부)
  • Published : 2000.01.01
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Abstract

A better tracking performance can be achieved, if visual sensors such as CCD cameras are used in controling a robot manipulator, than when only relative sensors such as encoders are used. However, for precise visual servoing of a robot manipulator, an expensive vision system which has fast sampling rate must be used. Moreover, even if a fast vision system is implemented for visual servoing, one cannot get a reliable performance without use of robust and stable inner joint servo-loop. In this paper, we propose a dynamic control scheme for robot manipulators with eye-in-hand camera configuration, where a dynamic learning controller is designed to improve the tracking performance of robotic system. The proposed control scheme is implemented for tasks of tracking moving objects and shown to be robust to parameter uncertainty, disturbances, low sampling rate, etc.

Keywords

References

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