| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 722930 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
