Model Predictive Control for Uncalibrated and Constrained Image-Based Visual Servoing without Joint Velocity Measurements

Abstract

This paper presents a novel scheme for image-based visual servoing (IBVS) of a robot manipulator by considering robot dynamics without using joint velocity measurements in the presence of constraints, uncalibrated camera intrinsic and extrinsic parameters and unknown feature position parameters. An approach to design model predictive control (MPC) method based on identification algorithm and sliding mode observer has been proposed. Based on the MPC method, the IBVS tasks can be considered as a nonlinear optimization problem while the constraints due to the visibility constraint and the torque constraint can be explicitly taken into account. By using the depth-independent interaction matrix framework, the identification algorithm can be used to update the unknown parameters and the prediction model. In addition, many existing controllers require the joint velocity measurements which can be contaminated by noises, thus resulting in the IBVS performance degradation. To overcome the problem without joint velocity measurements, the sliding mode observer is designed to estimate the joint velocities of the IBVS system. The simulation results for both eye-in-hand and eye-to-hand camera configurations are presented to verify the effectiveness of the proposed control method.