Visual servoing experiment using a 3D flexible-link manipulator

Jiang Xin, Atsushi Konno, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    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.

    Original languageEnglish
    Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    Pages1224-1229
    Number of pages6
    DOIs
    Publication statusPublished - 2006 Dec 1
    Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
    Duration: 2006 Oct 92006 Oct 15

    Publication series

    NameIEEE International Conference on Intelligent Robots and Systems

    Other

    Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    CountryChina
    CityBeijing
    Period06/10/906/10/15

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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