Predictive control strategy for image based visual servoing of robot manipulators
نویسندگان
چکیده
Predictive control strategies began to be used to solve the image based visual servoing problems. Thus, in literature, a GPC controller and a nonlinear predictive one were reported. In this paper, a predictive control strategy is developed based on a new approach for computing the feature trajectories prediction of a robot with eye-in-hand configuration. The cost function based on errors in image plane takes into consideration the visibility constrain due to sensor characteristics. Using a visual servoing simulator, the predictive strategy was successfully tested. Key-Words: Image based control, visual servoing, predictive control, robot control, eye-in-hand sytem
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