Abstract
This paper presents a new control scheme for visual servoing applications. The approach employs quadratic optimization, and explicitly handles both joint position, velocity and acceleration limits. Contrary to existing techniques, our method does not rely on large safety margins and slow task execution to avoid joint limits, and is hence able to exploit the full potential of the robot. Furthermore, our control scheme guarantees a well-defined behavior of the robot even when it is in a singular configuration, and thus handles both internal and external singularities robustly. We demonstrate the correctness and efficiency of our approach in a number of visual servoing applications, and compare it to a range of previously proposed techniques.
Highlights
In recent years, much research has been aimed at developing control schemes, which enable robots to react to changing or uncertain environments
The results presented demonstrate the behavior of the selected control systems when joint position, velocity and acceleration limits as well as singularities are encountered during task execution
In this paper we have proposed a novel scheme for controlling robots in visual servoing applications
Summary
Much research has been aimed at developing control schemes, which enable robots to react to changing or uncertain environments. The main advantage of the WLN method over GPM is that the magnitude of the self motion is not tuned by a parameter but rather computed on the basis of the robot configuration and the magnitude and direction of the desired end-effector velocity screw This allows the WLN approach to avoid unnecessary self-motion and oscillations by damping any joint motions toward positional limits. We propose to minimize the Euclidean distance between the desired end-effector velocity screw and the one attainable by the robot, but in other applications alternative objective functions may be relevant Implementing this objective function means that we, contrary to the previously discussed approaches, allow the robot control system to modify the main visual task in order to cope with singularities and limits.
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