NDLI: Visual Servoing Experiment using a 3D Flexible-Link Manipulator

Content Provider	IEEE Xplore Digital Library
Author	Xin Jiang Konno, A. Uchiyama, M.
Copyright Year	2006
Description	Author affiliation: Dept. of Aerosp. Eng., Tohoku Univ., Sendai (Xin Jiang; Konno, A.; Uchiyama, M.)
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 0.5 mm. However, it is difficult for the flexible-link manipulator to insert the peg into a hole whose clearance is 0.1 mm, 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 0.1 mm
Starting Page	1224
Ending Page	1229
File Size	468173
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281880
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Manipulators Vibration control Wire Position control Frequency domain analysis Low pass filters Stability analysis Orbital robotics Cameras
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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