TY - GEN
T1 - Visual servoing experiment using a 3D flexible-link manipulator
AU - Xin, Jiang
AU - Konno, Atsushi
AU - Uchiyama, Masaru
PY - 2006
Y1 - 2006
N2 - This paper discusses an approach to apply visual servoing to a 3D flexible-link manipulator. The proposed approach is composed of an end-effector position control based on eye-in-hand visual servoing and a vibration suppression control. In order to decouple the end-effector position control and the vibration control, the end-effector position control is applied in a low frequency domain, while the vibration control is applied in a high frequency domain. To decouple the frequency domain, a high-pass filter and a low-pass filter are used. Stability of the whole system is analyzed by investigating the pole of the system. Using the proposed approach, the 3D flexible-link manipulator succeeds to insert a peg into a hole whose clearance is 0.5mm. However, it is difficult for the flexible-link manipulator to insert the peg into a hole whose clearance is 0.1mm, if there is no force control. Therefore, an impedance control is also tested together with the end-effector position control and the vibration control. Using the modified approach, the flexible-link manipulator succeeds to insert the peg into the hole whose clearance is 0.1mm.
AB - This paper discusses an approach to apply visual servoing to a 3D flexible-link manipulator. The proposed approach is composed of an end-effector position control based on eye-in-hand visual servoing and a vibration suppression control. In order to decouple the end-effector position control and the vibration control, the end-effector position control is applied in a low frequency domain, while the vibration control is applied in a high frequency domain. To decouple the frequency domain, a high-pass filter and a low-pass filter are used. Stability of the whole system is analyzed by investigating the pole of the system. Using the proposed approach, the 3D flexible-link manipulator succeeds to insert a peg into a hole whose clearance is 0.5mm. However, it is difficult for the flexible-link manipulator to insert the peg into a hole whose clearance is 0.1mm, if there is no force control. Therefore, an impedance control is also tested together with the end-effector position control and the vibration control. Using the modified approach, the flexible-link manipulator succeeds to insert the peg into the hole whose clearance is 0.1mm.
UR - https://www.scopus.com/pages/publications/34250642694
U2 - 10.1109/IROS.2006.281880
DO - 10.1109/IROS.2006.281880
M3 - 会议稿件
AN - SCOPUS:34250642694
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1224
EP - 1229
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -