Nonlinear Observer-Based Visual Servoing and Vibration Control of Flexible Robotic Manipulators With a Fixed Camera

摘要

This article studies the visual servoing and vibration suppression control for flexible manipulators when the system states are unmeasurable and only the image feedback is available. The dynamic equations of flexible manipulators are decomposed into the slow and fast subsystems based on the singular perturbation theory. The nonlinear observers based on the state transformation using the Lie derivatives are proposed to estimate the unmeasurable system states and unknown camera intrinsic parameters at the same time. Then, the image-based controllers utilizing the estimated states are, respectively, designed in the slow and fast subsystems to regulate the image positions of feature points and suppress the vibration of flexible manipulators simultaneously. In the proposed approach, only the visual feedback is required to generate the control input for flexible manipulators, which simplifies the controller implementation. The stability of the proposed control scheme is proved based on the Lyapunov theory. Finally, experimental results on a flexible single-link manipulator are provided to demonstrate the effectiveness of the proposed control approach.