Predictive Image Based Visual Servoing of Manipulators with Multiple Constraints
a novel image based visual servoing(IBVS)method under the predictive control frame is proposed in order to solve the visual tracking problem of robot manipulator with multiple constraints.A vision predictive frame is presented by employing the motion model between cameras velocity and image features.And the design step of vision predictive controller is presented.Then,an effective vision predictive control method with a suitable predictive time horizon is obtained.In simulation,the role of predictive time horizon is analyzed and evaluated,and several simulation results are gained by using the proposed method.Finally,the interesting and satisfactory results are illustrated.
Manipulator Visual Servoing Predictive Control Robot
Liu weipeng Chen Haiyong Sun Hexu Xing Guansheng
School of Control Sciences and Control Engineering,Hebei University of Technology Tianjin,300130,China
国际会议
长沙
英文
3702-3707
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）