NDLI: Visual servoing of a 6-DOF manipulator for unknown 3-d profile following

Content Provider	IEEE Xplore Digital Library
Author	Gangloff, J.A. de Mathelin, M.F.
Copyright Year	1989
Abstract	This paper presents the visual servoing of a six degrees of freedom (6-DOF) manipulator for unknown three-dimensional profile following. The profile has an unknown curvature, but its cross section is known. The visual servoing keeps the transformation between a cross section of the profile and the camera constant with respect to 6 DOE The position of the profile with respect to only five degrees of freedom can be measured with the camera since the image does not provide position information along the profile. The kinematic model of the robot is used to reconstruct the displacement along the profile, i.e., the sixth degree of freedom, and allows to control the profile-following velocity. Experiments show good accuracy for positioning at a sampling rate of 50 Hz. Two control strategies are tested: proportional-integral control and generalized predictive control (GPC). The visual servoing exhibits better accuracy with the GPC in simulations and in real experiments on a 6-DOF manipulator due to the predictive property of the algorithm.
Starting Page	511
Ending Page	520
Page Count	10
File Size	848014
File Format	PDF
ISSN	1042296X
Volume Number	18
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-08-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Robot vision systems Cameras Pi control US Department of Energy Position measurement Kinematics Image reconstruction Displacement control Velocity control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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