Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Visual Servo Control of Slender Manipulators Using an Approximate Jacobian Operator

근사 자코비안 연산자를 이용한 경량 매니퓰레이터의 시각 서보 제어

  • Published : 2000.12.01
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Abstract

To realize a visual servo control of slender manipulators, two problems to be solved are analysed. The stability problem on so-called noncolocation control and the infinite order problem of the real Jacobian matrix caused by the elastic deformation are discussed. By considering the dynamic relations between rigid and elastic modes, a Jacobian operator is derived and the physical meaning is also explained. Then, for practical control, a simple control scheme using an approximate Jacobian is proposed and its stable conditions are proven by means of the $L_$2$ stability theory. The scheme is structurally similar to the conventional PD control laws, but external sensors(e. g. visual sensor) are used for positioning and internal sensors for damping. A good performance is obtained via control experiments of a slender two link manipulator.

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References

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