Tip Position Control of Flexible Manipulators through Visual Servoing

机译：通过视觉伺服控制柔性机械臂的尖端位置

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摘要

Visual servoing of eye-in-hand flexible manipulators is considered in this paper. Dynamic effects of both the rigid and the flexible motion of the manipulator are fully taken into account in a control solution where the two-timescale nature of the problem is exploited. The visual information is used in the "slow" subsystem for a task space oriented control law. Some simulation results finally show the effectiveness of the proposed controller.

机译：本文考虑了手眼柔性机械手的视觉伺服。在利用问题的两个时间尺度性质的控制解决方案中，充分考虑了机械手的刚性和柔性运动的动态影响。视觉信息在“慢速”子系统中用于面向任务空间的控制律。一些仿真结果最终证明了所提出控制器的有效性。

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《Cranfield Conference on Dynamica and Control of Systems and Structures in Space; 2004; Liguria; IT》|2004年|P.673-682|共10页
会议地点 Liguria(IT)
作者
L. Bascetta; P. Rocco;
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作者单位

Dipartimento di Elettronica e Informazione, Politecnico di Milano, Italy;

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原文格式 PDF
正文语种 eng
中图分类动力装置;
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专利

1. A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator [J] . G. Palmieri, M. Palpacelli, M. Battistelli, Journal of robotics . 2012,第1期

机译：平移并联机械手控制中基于位置和基于图像的动态视觉伺服的比较
2. A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator [J] . G.Palmieri, M.Palpacelli, M.Battistelli, Journal of robotics . 2012,第1期

机译：平移并联机械手控制中基于位置和基于图像的动态视觉伺服的比较
3. A Mutivariable Methodology for Fast Visual Servoing of Flexible Manipulators Moving in a Restricted Workspace [J] . Loic Cuvillon, Edouard Laroche, Jacques Gangloff, Advanced Robotics: The International Journal of the Robotics Society of Japan . 2012,第15期

机译：在受限工作空间中移动的灵活机械手快速视觉伺服的可变方法
4. Tip Position Control of Flexible Manipulators through Visual Servoing [C] . L. Bascetta, P. Rocco International conference on dynamics and control of systems and structures in space . 2004

机译：尖端位置通过视觉伺服控制柔性机械手
5. Dynamic analysis and position control of a single flexible-link flexible-joint robot manipulator using time delay. [D] . Dong, Yuan. 2006

机译：使用时滞的单个柔性链接柔性关节机器人机械手的动态分析和位置控制。
6. Uncalibrated Visual Servoing for Underwater Vehicle Manipulator Systems with an Eye in Hand Configuration Camera [O] . Jiyong Li, Hai Huang, Yang Xu, 2019

机译：未校准的视觉伺服用于水下车辆机械手系统具有手部配置相机
7. Position / Force Hybrid Control of a Manipulator with a Flexible Tool Using Visual and Force Information [O] . Jian Huang, Isao Todo, Tetsuro Yabut 2005

机译：使用视觉和力信息，使用灵活工具的机械手的位置/力混合控制
8. Design and Application of Robust Reduced-Order Hybrid Position and ForceControllers for a Two-Link Flexible Manipulator [R] . Bossert, D. E. 1996

机译：双连杆柔性机械臂鲁棒降阶混合位置和力控制器的设计与应用

Tip Position Control of Flexible Manipulators through Visual Servoing

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