Florian Pucher, Hubert Gattringer, Andreas Müller,
"Vibration Damping of Flexible Link Robots using an Eye-in-Hand Camera"
: Proceedings in Applied Mathematics and Mechanics, in Proceedings in Applied Mathematics and Mechanics, Vol. 17, Nummer 1, Seite(n) 163-164, 2018
Vibration Damping of Flexible Link Robots using an Eye-in-Hand Camera
Sprache des Titels:
Proceedings in Applied Mathematics and Mechanics
Due to their low weight robots with flexible links are ideal candidates for use in dynamically demanding applications. Since
the main goal of the robot control is to achieve precise positioning, the damping of oscillations due to low stiffness is imperative.
Furthermore classical PD motor position control is insufficient for vibration damping. This paper presents an approach
using an eye-in-hand camera for vibration damping of an elastic articulated robot with three actuated joints. The idea is to use
the position of feature points in the camera image for generating a feedback signal. The image feature position is transformed
into the joint space using the image Jacobian. The PD motor control is augmented by a proportional term w.r.t. a virtual arm
angle. Experimental results of a comparison with a control concept based on acceleration sensors are presented.