期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 63, 期 4, 页码 2242-2250出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2015.2510505
关键词
Image-based visual servoing (IBVS); model predictive controller (MPC); robotic; visual servoing
资金
- Natural Sciences and Engineering Research Council of Canada (NSERC)
- National Natural Science Foundation of China [61403122]
This paper presents an online image-based visual servoing (IBVS) controller for a 6-degrees-of-freedom (DOF) robotic system based on the robust model predictive control (RMPC) method. The controller is designed considering the robotic visual servoing system's input and output constraints, such as robot physical limitations and visibility constraints. The proposed IBVS controller avoids the inverse of the image Jacobian matrix and hence can solve the intractable problems for the classical IBVS controller, such as large displacements between the initial and the desired positions of the camera. To verify the effectiveness of the proposed algorithm, real-time experimental results on a 6-DOF robot manipulator with eye-in-hand configuration are presented and discussed.
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