Vision‐based tip position tracking control of two‐link flexible manipulator

Owing to the non‐collocation of actuators and sensors in a flexible‐link manipulator (FLM) it becomes difficult to achieve accurate tip position tracking. To resolve this issue, a vision sensor is used for direct measurement of the tip position instead of employing the traditional mechanical sensors...

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Bibliographic Details
Published in:IET cyber-systems and robotics 2020-06, Vol.2 (2), p.53-66
Main Authors: Sahu, Umesh Kumar, Patra, Dipti, Subudhi, Bidyadhar
Format: Article
Language:English
Subjects:
Actuators
Cameras
control system synthesis
Controllers
Design
feature selection
Flexible manipulators
flexible-link manipulator
FLM
image-based vs
interaction matrix
manipulator dynamics
Partial differential equations
position control
Position measurement
Position sensing
Robot arms
robot vision
Robust control
Scale models
Sensors
Servocontrol
Subsystems
Time
Tracking control
Trajectory control
two-link flexible manipulator
two-time scale ibvs controller
two-time scale models
Vision
vision sensor
vision-based tip position tracking control
visual servoing
visual servoing control
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Summary:Owing to the non‐collocation of actuators and sensors in a flexible‐link manipulator (FLM) it becomes difficult to achieve accurate tip position tracking. To resolve this issue, a vision sensor is used for direct measurement of the tip position instead of employing the traditional mechanical sensors. Among the different visual servoing (VS) control schemes, image‐based VS (IBVS) is more effective. However, there are many challenges in the IBVS scheme such as singularities in the interaction matrix and local minima in trajectories that affect the system performance in real‐time applications. In this study, the moment‐based new visual feature is selected to address the aforesaid issues that arise in the IBVS scheme. Furthermore, a new two‐time scale IBVS controller is developed for addressing the tip‐tracking control problem of the two‐link flexible manipulator (TLFM). In the proposed control scheme, the dynamics of the FLM is decomposed into two‐time scale models, namely a slow subsystem and a fast subsystem. The performance and robustness of the proposed new two‐time scale IBVS controller for TLFM are verified by pursuing simulation studies. It is observed from the obtained results that the proposed controller effectively stabilises the oscillatory dynamics and tracks the reference trajectory accurately.
ISSN:2631-6315
2631-6315
DOI:10.1049/iet-csr.2019.0035