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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics
    
基于视觉的双连杆柔性机械臂末端位置跟踪控制
Umesh Kumar Sahu1,2, Dipti Patra1, Bidyadhar Subudhi1,3
1Department of Electrical Engineering, National Institute of Technology, Rourkela 769008, India 2Current affiliation: Department of Electronics and Telecommunication, G H Raisoni College of Engineering, Nagpur, Maharashtra-440016, India 3Current affiliation: School of Electrical Sciences, Indian Institute of Technology Goa, Ponda, Goa-401403, India
Vision-based tip position tracking control of two-link flexible manipulator
Umesh Kumar Sahu1,2, Dipti Patra1, Bidyadhar Subudhi1,3
1Department of Electrical Engineering, National Institute of Technology, Rourkela 769008, India 2Current affiliation: Department of Electronics and Telecommunication, G H Raisoni College of Engineering, Nagpur, Maharashtra-440016, India 3Current affiliation: School of Electrical Sciences, Indian Institute of Technology Goa, Ponda, Goa-401403, India
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摘要： 由于柔性连杆机械臂（FLM）中执行器和传感器不共点，因此难以实现精确的末端位置跟踪。为了解决这一问题，视觉传感器代替传统的机械传感器被用来直接测量末端位置。在不同的视觉伺服(VS)控制方案中，基于图像的视觉伺服(IBVS)更为有效。然而，IBVS方案中仍存在许多挑战，例如相互作用矩阵的奇异性和轨迹中的局部极小值，这些都会影响系统在实时应用中的性能。在本研究中，我们选择基于图像矩的视觉特征来解决IBVS方案中出现的上述问题。此外，针对双连杆柔性机械臂末端位置跟踪控制问题，我们设计了一个新的双时间尺度IBVS控制器。在该控制方案中，FLM的动态被分解为两个时间尺度模型，即慢子系统和快子系统。通过仿真研究，我们对该新型双时间尺度IBVS控制器的性能和鲁棒性进行了验证。结果表明，该控制器有效地稳定了系统的振荡动态，并能准确地跟踪参考轨迹。
Abstract: Owing to the non-collocation of actuators and sensors in a flexible-link manipulator (FLM) it becomes difficult to achieve accurate tip position tracking. To resolve this issue, a vision sensor is used for direct measurement of the tip position instead of employing the traditional mechanical sensors. Among the different visual servoing (VS) control schemes, image-based VS (IBVS) is more effective. However, there are many challenges in the IBVS scheme such as singularities in the interaction matrix and local minima in trajectories that affect the system performance in real-time applications. In this study, the moment-based new visual feature is selected to address the aforesaid issues that arise in the IBVS scheme. Furthermore, a new two-time scale IBVS controller is developed for addressing the tip-tracking control problem of the two-link flexible manipulator (TLFM). In the proposed control scheme, the dynamics of the FLM is decomposed into two-time scale models, namely a slow subsystem and a fast subsystem. The performance and robustness of the proposed new two-time scale IBVS controller for TLFM are verified by pursuing simulation studies. It is observed from the obtained results that the proposed controller effectively stabilises the oscillatory dynamics and tracks the reference trajectory accurately.
收稿日期: 2019-09-07
通讯作者: Bidyadhar Subudhi     E-mail: bidyadhar@iitgoa.ac.in
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Umesh Kumar Sahu
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引用本文:

Umesh Kumar Sahu, Dipti Patra, Bidyadhar Subudhi. Vision-based tip position tracking control of two-link flexible manipulator. IET Cyber-Systems and Robotics, 10.1049/iet-csr.2019.0035.

链接本文:

http://www.zjujournals.com/iet-csr/CN/10.1049/iet-csr.2019.0035    或    http://www.zjujournals.com/iet-csr/CN/Y2020/V2/I2/53

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