Predictive delay compensation for camera based oscillation damping of a multi link flexible robot

Abstract

For oscillation damping of a multi link flexible arm under gravity this paper exploits the image data already acquired by an eye-in-hand camera used for visual servoing. It replaces commonly applied distributed strain measurements in a model free oscillation damping control concept. Based on simulations and experiments the paper compares three predictive signal processing approaches to compensate for the sensor inherent delay. Damping results for oscillations induced by joint motions as well as sudden load changes are presented in three different unstructured scenes. © Springer-Verlag Berlin Heidelberg 2012.