Image-Based Visual Servoing for Manipulation Via Predictive Control – A Survey of Some Results

• Main Authors: Corneliu Lazăr, Adrian Burlacu
• Format: Article
• Language: English
• Published: Publishing House of the Romanian Academy 2016-09-01
• Series: Memoirs of the Scientific Sections of the Romanian Academy
• Subjects: predictive control; image prediction; reference trajectory; internal model predictor
• Online Access: http://mss.academiaromana-is.ro/mem_sc_st_2016/7_Lazar.pdf

In this paper, a review of predictive control algorithms developed by the authors for visual servoing of robots in manipulation applications is presented. Using these algorithms, a control predictive framework was created for image-based visual servoing (IBVS) systems. Firstly, considering the point features, in the year 2008 we introduced an internal model predictor based on the interaction matrix. Secondly, distinctly from the set-point trajectory, we introduced in 2011 the reference trajectory using the concept from predictive control. Finally, minimizing a sum of squares of predicted errors, the optimal input trajectory was obtained. The new concept of predictive control for IBVS systems was employed to develop a cascade structure for motion control of robot arms. Simulation results obtained with a simulator for predictive IBVS systems are also presented.