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High speed visual servoing of a 6 DOF manipulator using MIMO predictive control

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2 Author(s)
J. A. Gangloff ; Univ. Louis Pasteur, Strasbourg, France ; M. F. de Mathelin

This paper presents a novel approach to model and control high speed 6 DOF visual servo loops. The modelling and control strategy takes into account the dynamics of a velocity controlled 6 DOF manipulator as well as a simplified model of the camera and acquisition system in order to increase the bandwidth of the servo loop. multi-input multi-output (MIMO) generalized predictive control (GPC) is used to optimally control the visual loop with respect to the proposed dynamic model. The visual sensor used in the experiments is a high speed camera that allows to acquire 120 noninterlaced images per second. With this camera, we achieve a sampling frequency of 120 Hz for the visual loop. Experimental results on a 6 DOF industrial robot are presented that validate the proposed model. They show drastic improvement of the loop performance with respect to more classical control strategies like PID type control

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Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

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