Title: Vision-based Cartesian space motion control for flexible robotic manipulators

Authors: Zhao-Hui Jiang

Addresses: Department of Mechanical Systems Engineering, Hiroshima Institute of Technology, 2-1-1 Miyake, Saeki-ku, Hiroshima, Japan

Abstract: This paper addresses the issue of Cartesian space trajectory tracking control of robot arms with link flexibility. A control method using vision feedback is proposed based on dynamics of the robot and Lyapunov stability theory. A CCD camera and video tracker are used as a vision system for the measurement of end-effector position and link flexural behaviour in the control process. Using this vision system the end-effector position is measured directly, whereas the link deflections are measured indirectly based on kinematics and inverse kinematics of the flexible robot. End-effector trajectory tracking control experiments are carried out using a two-link flexible robot system as the test bed. The results demonstrate effectiveness and usefulness of the proposed sensing and control methods.

Keywords: flexible robots; vision feedback; Cartesian space; motion control; flexible manipulators; control experiments; robot vision; trajectory tracking; tracking control; Lyapunov stability; robot dynamics; end-effector positioning; link flexural behaviour; inverse kinematics; robot kinematics.

DOI: 10.1504/IJMIC.2008.021480

International Journal of Modelling, Identification and Control, 2008 Vol.4 No.4, pp.406 - 414

Published online: 28 Nov 2008 *

Full-text access for editors Access for subscribers Purchase this article Comment on this article