Direct Visual Servoing Framework based on Optimal Control for Redundant Joint Structures

作者：Pomares Jorge^*; Alberto Jara Carlos; Perez Javier; Torres Fernando

来源：International Journal of Precision Engineering and Manufacturing, 2015, 16(2): 267-274.

DOI：10.1007/s12541-015-0035-z

• Visual servoing
• Control framework
• Chaos control
• Robotics

This paper presents a new framework based on optimal control to define new dynamic visual controllers to carry out the guidance of any serial link structure. The proposed general method employs optimal control to obtain the desired behaviour in the joint space based on an indicated cost function which determines how the control effort is distributed over the joints. The proposed approach allows the development of new direct visual controllers for any mechanical joint system with redundancy. Finally, authors show experimental results and verifications on a real robotic system for some derived controllers obtained from the control framework.

• 出版日期2015-2