Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Motion Control of Robot Manipulators using Visual Feedback

비젼을 이용한 로봇 매니퓰레이터의 자세제어

  • Published : 2006.01.01
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Abstract

In this paper, we propose a motion control scheme of robot manipulators based on visual feedback under camera-in-hand configuration. The desired joint velocity and acceleration for motion control is made by the feature-based visual data in the outer loop. The control input for tracking feature points on the image plane uses robot kinematics dynamic. The proposed control input consists of the image feature and the joint velocity error to achieve robustness to the parametric uncertainty. The stability of the closed-loop system is proved by Lyapunov approach. Computer simulations and experiments on a two degree of freedom manipulator with 5 links are presented to illustrate the performance of proposed control system.

본 논문에서는 로봇 말단부에 장착된 카메라 환경에서 시각 궤환을 이용하는 로봇 매니퓰레이터의 자세제어 기법을 제안한다. 자세제어를 위한 기준 관절 속도와 관절 가속도는 외부루프의 특징점을 이용한 영상정보에서 생성된다. 영상평면상에서 특징점을 추종하기 위한 제어 입력은 로봇 동역학을 사용하였다. 영상평면상의 특징점과 관절 각속도 오차를 로봇 구동을 위한 제어입력에 포함시켜 파라미터 불확실성에 강인하도록 하였다. 시스템의 안정도는 Lyapunov 안정도 판별법을 이용하여 입증하였다. 제안된 제어기의 성능은 5-링크 2 자유도를 가지는 로봇에 대한 컴퓨터 시뮬레이션과 실험을 통해 검증하였다.

Keywords

References

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