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Stitching Dynamic Movement Primitives and Image-Based Visual Servo Control
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DOI：10.1109/TSMC.2022.3214756.png)
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Abstract
En 中文
Utilizing perception for feedback control in combination with dynamic movement primitive (DMP)-based motion generation for a robot's end-effector control is a useful solution for many robotic manufacturing tasks. For instance, while performing an insertion task when the hole or the recipient part is not visible in the eye-in-hand camera, a learning-based movement primitive method can be used to generate the end-effector path. Once the recipient part is in the field of view (FOV), image-based visual servo (IBVS) can be used to control the motion of the robot. Inspired by such applications, this article presents a generalized control scheme that switches between motion generation using DMP and IBVS control. To facilitate the design, a common state-space representation for the DMP and the IBVS systems is first established. The stability analysis of the switched system using multiple Lyapunov functions shows that the state trajectories converge to a bound asymptotically. The developed method is validated by three real-world experiments using the eye-in-hand configuration of a Baxter research robot.
Keywords:
Switched systems
Switches
Cameras
Control systems
Robots
Visualization
Asymptotic stability
Image-based visual servo (IBVS) control
learning from demonstration
robot control
visual servoing
Journal
IF:
10.5
Papers:
1.1W
Citations:
5.0W