A Mutivariable Methodology for Fast Visual Servoing of Flexible Manipulators Moving in a Restricted Workspace

Abstract High-speed visual servoing of manipulators including flexibilities is considered. In the proposed methodology, a model taking into account all the dynamics of the system is identified from the measurements usually available in visual servoing. This model is valid around the working position of the arm and can be easily recomputed after camera displacement. Two multivariable strategies are proposed for controlling the position of the end-effector: generalized predictive control and control. Comparative simulation and experimental results on a 2-degrees of freedom planar manipulator are given. A robustness evaluation step shows that the available working space is quite large.

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