{"title":"基于被动性的机械臂动态视觉伺服","authors":"A. L. Rodríguez, Yu Tang","doi":"10.1109/CERMA.2010.110","DOIUrl":null,"url":null,"abstract":"In this paper the servo problem in a 3-D robot manipulator based only on the visual measurements by following the dynamic visual servoing approach with a fixed camera configuration is considered. To model the whole visual servoing system, we consider the robot in an image space, reconstructed from the perspective projection of the robot space in the image plane. The manipulator dynamics is lifted up to the image space and modeled with the lagrangian formalism by formulating the kinematic and potential energy in the image space. The resulting motion equation has the same structure as that obtained in the joint space using the lagrangian modeling [1], and therefore inheriting the passivity property. Control schemes based on the passivity of the motion equation are then designed for visual servoing. Simulation and experiment results are included.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"22 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Dynamic Visual Servoing of Robot Manipulators Based on Passivity\",\"authors\":\"A. L. Rodríguez, Yu Tang\",\"doi\":\"10.1109/CERMA.2010.110\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper the servo problem in a 3-D robot manipulator based only on the visual measurements by following the dynamic visual servoing approach with a fixed camera configuration is considered. To model the whole visual servoing system, we consider the robot in an image space, reconstructed from the perspective projection of the robot space in the image plane. The manipulator dynamics is lifted up to the image space and modeled with the lagrangian formalism by formulating the kinematic and potential energy in the image space. The resulting motion equation has the same structure as that obtained in the joint space using the lagrangian modeling [1], and therefore inheriting the passivity property. Control schemes based on the passivity of the motion equation are then designed for visual servoing. Simulation and experiment results are included.\",\"PeriodicalId\":119218,\"journal\":{\"name\":\"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference\",\"volume\":\"22 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-09-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CERMA.2010.110\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CERMA.2010.110","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Dynamic Visual Servoing of Robot Manipulators Based on Passivity
In this paper the servo problem in a 3-D robot manipulator based only on the visual measurements by following the dynamic visual servoing approach with a fixed camera configuration is considered. To model the whole visual servoing system, we consider the robot in an image space, reconstructed from the perspective projection of the robot space in the image plane. The manipulator dynamics is lifted up to the image space and modeled with the lagrangian formalism by formulating the kinematic and potential energy in the image space. The resulting motion equation has the same structure as that obtained in the joint space using the lagrangian modeling [1], and therefore inheriting the passivity property. Control schemes based on the passivity of the motion equation are then designed for visual servoing. Simulation and experiment results are included.