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An Enhanced IBVS Controller of a 6DOF Manipulator Using Hybrid PD-SMC Method

  • Shutong Li
  • Ahmad Ghasemi
  • Wenfang Xie
  • Yanbin Gao
Regular Paper Robot and Applications
  • 178 Downloads

Abstract

The accuracy and stability are two fundamental concerns of the visual servoing control system. This paper presents an enhanced image based visual servoing (IBVS) method for increasing the accuracy of a 6DOF manipulator. The controller is designed to combine proportional derivative (PD) control with sliding mode control (SMC) on a 6DOF manipulator. The properly tuned PD controller can ensure the fast tracking performance and SMC can deal with the external disturbance and uncertainties due to the depth. The enhanced IBVS controller benefits from simple structure and easy implementation of PD control and good robustness to uncertainties of SMC. The stability of the proposed method is proven by using Lyapunov method. Simulation and experimental results are used to demonstrate the effectiveness of the proposed controller.

Keywords

Image based visual servoing (IBVS) PD control sliding mode control 6DOF manipulator 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Shutong Li
    • 1
  • Ahmad Ghasemi
    • 2
  • Wenfang Xie
    • 2
  • Yanbin Gao
    • 1
  1. 1.College of AutomationHarbin Engineering UniversityHarbinChina
  2. 2.Department of Mechanical and Industrial EngineeringConcordia UniversityMontrealCanada

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