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Visual Servo Kinematic Control for Robotic Manipulators

Visual Servo Kinematic Control for Robotic Manipulators

Zheng Hong Zhu, Gangqi Dong
Copyright: © 2019 |Pages: 25
ISBN13: 9781522552765|ISBN10: 1522552766|ISBN13 Softcover: 9781522587637|EISBN13: 9781522552772
DOI: 10.4018/978-1-5225-5276-5.ch001
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MLA

Zhu, Zheng Hong, and Gangqi Dong. "Visual Servo Kinematic Control for Robotic Manipulators." Novel Design and Applications of Robotics Technologies, edited by Dan Zhang and Bin Wei, IGI Global, 2019, pp. 1-25. https://doi.org/10.4018/978-1-5225-5276-5.ch001

APA

Zhu, Z. H. & Dong, G. (2019). Visual Servo Kinematic Control for Robotic Manipulators. In D. Zhang & B. Wei (Eds.), Novel Design and Applications of Robotics Technologies (pp. 1-25). IGI Global. https://doi.org/10.4018/978-1-5225-5276-5.ch001

Chicago

Zhu, Zheng Hong, and Gangqi Dong. "Visual Servo Kinematic Control for Robotic Manipulators." In Novel Design and Applications of Robotics Technologies, edited by Dan Zhang and Bin Wei, 1-25. Hershey, PA: IGI Global, 2019. https://doi.org/10.4018/978-1-5225-5276-5.ch001

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Abstract

In the last couple of decades, massive industrial application demands greatly accelerated the advances of control theories for robotic manipulator. However, the autonomous robotic capture is still facing many technical challenges. A novel visual servo kinematic control scheme for robotic manipulators to perform autonomous capture operation of a non-cooperative target is presented. An integrated algorithm of the photogrammetry and the adaptive extended Kalman filter is introduced to estimate the position and orientation of the target. In order to improve the reliability of the robotic control and to avoid the multiple solutions problem of inverse kinematics, a kinematics-based incremental control approach is adopted to control the robotic manipulator in real time. Validating experiments are performed on a custom built robotic manipulator with an eye-in-hand configuration. The experimental results demonstrate the effectiveness and robustness of the proposed control visual servo kinematic control scheme.

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