Task space visual servoing of eye-in-hand flexible manipulators

Visual servoing of eye-in-hand flexible manipulators is considered in this paper. Dynamic effects of both the rigid and the flexible motion of the manipulator are fully taken into account in a control solution where the two-time scale nature of the problem is exploited. The visual information is used in the "slow" subsystem for a task space oriented control law, where computationally expensive operations, such as inverse and time derivative of the Jacobian, are avoided. A rigorous proof of stability of this control scheme, based on the Lyapunov theory, is also presented. Some simulation results finally show the effectiveness of the proposed controller.