平行2リンクマニピュレータのPID型視覚フィードバック制御

概要

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This paper investigates the visual feedback control for 2DOF(degrees of freedom) parallel link manipulator with zero steady-state error. Firstly we present the model of visual feedback system of the eye-in-hand configuration. Secondly we consider a novel desired joint angle defined by visual information and joint angles based on the structure of the parallel link, because a desired joint angle cannot be given as a standard robot motion control system. Next we propose the PID control law for the visual feedback system in order to overcome steady-state error with respect to the uncertainty of the position and the orientation for the base frame. For the proposed control law, stability analysis of the closed loop system is discussed in the sense of Lyapunov method with a sufficient condition for the feedback gains. Finally the experimental results are shown in order to confirm the validity of the proposed method by comparing with a previous visual feedback control law.