関節可動範囲を最大許容する遅れなし追従視制御

抄録

This paper addresses an avoidance problem of robot joint limits in visual servoing. Many robotic systems are practically subject to some physical constraints. In particular, violation of joint limits can deteriorate control performance and lead to the breakdown of the system. Redundancy appears frequently in the visual servoing formulation. To this redundancy, the authors introduce the maximal admission function. Consequently, both avoiding joint limits and exploiting joint range of motion effectively are achieved in visual servoing. Here, we consider a moving object as the target of visual servoing. In visual servoing, the case of a moving object is more severe than the case of a stationary object. The effectiveness of the proposed scheme is validated experimentally. The obtained results are also evaluated through a comparison with the conventional schemes.