Qifang Liu, Jianliang Mao, Linyan Han, Chuanlin Zhang, Jun Yang
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引用次数: 0
Abstract
This article simultaneously addresses the dual-rate and view constraints issues for the image-based visual servoing (IBVS) system of robot manipulators. Considering the low sampling bandwidth of the camera, potentially diminishing the efficiency of the robotic controller in updating low-level servoing control commands, a predictive observer (PO) is initially designed to forecast the system output during the high-level sampling intervals. Moreover, by leveraging a mixture of soft-sensing and real-measured signals, a dual-rate integral-based prescribed performance control (DRIPPC) approach is devised. The benefit lies in that the proposed control method samples the low-frequency state signal while generating a relatively high-frequency control action, ensuring rapid response of the robot manipulator while maintaining strict adherence to field-of-view (FOV) constraints. Finally, the effectiveness of the proposed control approach is validated through a series of experiments conducted on a Universal Robots 5 (UR5) manipulator.
期刊介绍:
The scope of the IEEE Transactions on Cybernetics includes computational approaches to the field of cybernetics. Specifically, the transactions welcomes papers on communication and control across machines or machine, human, and organizations. The scope includes such areas as computational intelligence, computer vision, neural networks, genetic algorithms, machine learning, fuzzy systems, cognitive systems, decision making, and robotics, to the extent that they contribute to the theme of cybernetics or demonstrate an application of cybernetics principles.