This paper presents an experimental study on the use of visual servoing for dexterous robotic manipulation. In the first step of the work, a mathematical model of the whole system has been derived, then a non-linear PID regulator with Smith predictor structure has been developed. The feedback signal for the controller comes directly from the visual sensor. Some experiments on following with robot end-effector a moving target have been performed, showing efficiency of the control system. This work on visual feedback differs from other similar experiments mainly because the inner architecture of the robot controller is assumed unknown, i.e. the inner control loop of the robot has not been modified.
Robotic manipulation experiments through visual feedback
BONFE', Marcello;
2001
Abstract
This paper presents an experimental study on the use of visual servoing for dexterous robotic manipulation. In the first step of the work, a mathematical model of the whole system has been derived, then a non-linear PID regulator with Smith predictor structure has been developed. The feedback signal for the controller comes directly from the visual sensor. Some experiments on following with robot end-effector a moving target have been performed, showing efficiency of the control system. This work on visual feedback differs from other similar experiments mainly because the inner architecture of the robot controller is assumed unknown, i.e. the inner control loop of the robot has not been modified.I documenti in SFERA sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
