ACCOUNTING FOR FLEXIBILITIES IN VISUAL SERVOING

In this paper is considered visual servoing of multi-link robotic arms including flexibilities. It is shown that even slight flexibilities in the structure make the classical strategy unproper. A H∞ controller is designed for a given working point that allows to handle properly the flexibilities. It is shown that the control strategy allows to operate within a working domain that can be sufficient for some applications. As a demonstrative example, the case of a two-links arm is considered. The model is obtained thanks to the DynaFlex toolbox.