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On improving robot image-based visual servoing based on dual-rate reference filtering control strategy

Published online by Cambridge University Press:  11 June 2015

J. Ernesto Solanes ,
Pau Muñoz-Benavent ,
Vicent Girbés ,
Leopoldo Armesto  and
Josep Tornero
J. Ernesto Solanes
Affiliation:
Institute of Design and Manufacturing, Universitat Politècnica de València, València, Spain. E-mails: esolanes@idf.upv.es, vgirbes@idf.upv.es, larmesto@idf.upv.es, jtornero@idf.upv.es
Pau Muñoz-Benavent*
Affiliation:
Institute of Design and Manufacturing, Universitat Politècnica de València, València, Spain. E-mails: esolanes@idf.upv.es, vgirbes@idf.upv.es, larmesto@idf.upv.es, jtornero@idf.upv.es
Vicent Girbés
Affiliation:
Institute of Design and Manufacturing, Universitat Politècnica de València, València, Spain. E-mails: esolanes@idf.upv.es, vgirbes@idf.upv.es, larmesto@idf.upv.es, jtornero@idf.upv.es
Leopoldo Armesto
Affiliation:
Institute of Design and Manufacturing, Universitat Politècnica de València, València, Spain. E-mails: esolanes@idf.upv.es, vgirbes@idf.upv.es, larmesto@idf.upv.es, jtornero@idf.upv.es
Josep Tornero
Affiliation:
Institute of Design and Manufacturing, Universitat Politècnica de València, València, Spain. E-mails: esolanes@idf.upv.es, vgirbes@idf.upv.es, larmesto@idf.upv.es, jtornero@idf.upv.es
*
*Corresponding author. E-mail: pmunyoz@idf.upv.es
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Summary

It is well known that the use of multi-rate control techniques have improved the performance of many systems in general, and robotic systems, in particular. The main contribution of this paper is the generalization of the Reference Filtering control strategy from a dual-rate point of view, improving its inherent properties by overcoming the problem of sensor latency. In the paper, we discuss and analyze the improvements introduced by the novel dual-rate reference filtering control strategy in terms of convergence time, reachability and robustness. More specifically, we discuss the capability to solve positioning tasks, when hardware limitations are present with large sampling rates. In addition, a comparison is made between the single-rate and the proposed dual-rate control strategies to prove the advantages of the latter approach. A complete set-up has been prepared for validation, including a six degree of freedom (DOF) industrial manipulator, a smart camera and embedded hardware used as a high level controller.

Keywords

Visual servoingVisual feedback controlNonlinear controlMulti-rate controlOptimal trajectoryMulti-rate kalman filterIndustrial robots
Type
Articles
Information
Robotica , Volume 34 , Issue 12 , December 2016 , pp. 2842 - 2859
Copyright
Copyright © Cambridge University Press 2015 

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