دانلود رایگان مقاله روش visual servoing مبتنی بر تصویر کنترل کننده فضای آزاد شناور

Abstract

This paper presents an image-based controller to perform the guidance of a free-floating robot manipulator. The manipulator has an eye-in-hand camera system, and is attached to a base satellite. The base is completely free and floating in space with no attitude control, and thus, freely reacting to the movements of the robot manipulator attached to it. The proposed image-based approach uses the system’s kinematics and dynamics model, not only to achieve a desired location with respect to an observed object in space, but also to follow a desired trajectory with respect to the object. To do this, the paper presents an optimal control approach to guiding the free-floating satellite-mounted robot, using visual information and considering the optimization of the motor commands with respect to a specified metric along with chaos compensation. The proposed controller is applied to the visual control of a four-degree-of-freedom robot manipulator in different scenarios

5. Conclusions

In contrast with the previous indirect image-based visual servoing approaches proposed up to now to perform the guidance of FFSMR, this paper presents a new direct image-based visual servoing system that takes into account the system kinematics and dynamics. The proposed controller allows the robot not only to achieve a given location from an initial one, but also to perform the tracking of a desired image trajectory. The proposed approach considers the optimization of the motor commands with respect to a specified metric defined by the user. Additionally, a chaos compensator is integrated in the proposed controller to improve the joint behavior during the tracking. Three different experiments with three different scenarios were developed, and the proposed controller worked properly for all of them. The first experiment illustrated the tracking of a nonrepetitive image trajectory. The second one illustrated the tracking of a circular trajectory performed by the end-effector, where the chaotic movement of the joints was avoided by using the chaos compensator. Even though movements in 3D Cartesian space of the end-effector were very similar, when studying the torque applied to the joints, and thus, the evolution of the positions of the links, a great improvement was achieved, avoiding high fuel consumption due to sudden, fast, chaotic movements of the links. In the third experiment, the tracking of an abrupt trajectory was examined with the optimal control strategy with chaos compensation but with different values of the weight matrix.