Research on a Visual Servo Method of a Manipulator Based on Velocity Feedforward | Zendy

Rui Wang | Zendy; Changchun Liang | Zendy; Dong Pan | Zendy; Xiaodong Zhang | Zendy; Pengfei Xin | Zendy; Xiaodong Du | Zendy

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Research on a Visual Servo Method of a Manipulator Based on Velocity Feedforward

Author(s) -

Rui Wang,

Changchun Liang,

Dong Pan,

Xiaodong Zhang,

Pengfei Xin,

Xiaodong Du

Publication year - 2021

Publication title -

space science and technology

Language(s) - English

Resource type - Journals

ISSN - 2692-7659

DOI - 10.34133/2021/9763179

Subject(s) - feed forward , control theory (sociology) , position (finance) , tracking (education) , servomechanism , computer science , motion (physics) , servo , servo control , computer vision , artificial intelligence , position error , motion control , orientation (vector space) , engineering , control engineering , mathematics , control (management) , robot , geometry , finance , economics , psychology , pedagogy

In this paper, a method of predicting the motion state of a moving target in the base coordinate system by hand-eye vision and the position and attitude of the end is proposed. The predicted value is used as the velocity feedforward, and the position-based visual servo method is used to plan the velocity of the end of the manipulator. It overcomes the influence of end coordinate system motion on target prediction in a discrete system and introduces an integral control method to compensate for the prediction velocity, eliminating the end tracking error caused by target velocity prediction error. The effectiveness of this method is verified by simulation and experiment.

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