End-point vibration sensing of planar flexible manipulators through visual servoing |
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| Affiliation: | 1. College of Computer Science, Chongqing University, Chongqing 400030, China;2. College of Computer Engineering, Yangtze Normal University, Chongqing 408100, China;3. College of Computer Science and Technology, Chongqing University of Posts and Telecommunications, Chongqing 400030, China;4. School of Computer Science and Telecommunication Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China;1. Professorship for Adaptronics and Lightweight Design in Production, Technische Universität Chemnitz, 09107 Chemnitz, Germany;2. Professorship Micromanufacturing Technology, Technische Universität Chemnitz, 09107 Chemnitz, Germany;3. Fraunhofer Institute for Machine Tools and Forming Technology IWU, Reichenhainer Str. 88, 09126 Chemnitz, Germany;1. School of Civil Engineering & Built Environment, Science and Engineering Faculty, Queensland University of Technology, Brisbane, QLD, Australia;2. Faculty Services, Science and Engineering Faculty, Queensland University of Technology, Brisbane, QLD, Australia |
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| Abstract: | A visual servoing approach to the control of planar flexible robotic manipulators is adopted in this paper, based on the composite control theory, where the camera sensor is used together with the strain gauge measurements, to estimate the tip deformation. A fast Kalman filter, built on an integral manifold approximation of the manipulator model, can be used to fuse in the most effective way the measurements coming from different sensors, each one perturbed by its own noise. As a consequence, the signal to noise ratio of the deformation measurements can be effectively improved. A difficulty however arises in deriving a linear relation between the camera output and the state variables: the specific contribution of this paper is the derivation of such a linear relation in the fast time scale. Simulation results based on a two link planar flexible manipulator show the potential of the proposed approach to gain a more effective suppression of the tip vibrations, while an experimental example demonstrates its practical feasibility. |
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