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

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

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

Published in:

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

Date of Conference:

2000