Continuous-time model identification of robot flexibilities for fast visual servoing

Luc Cuvillon (1) , Edouard Laroche (1) , Hugues Garnier (2) , Jacques Gangloff (1) , Michel de Mathelin (1)

1 LSIIT - Laboratoire des Sciences de l'Image, de l'Informatique et de la Télédétection
2 CRAN - Centre de Recherche en Automatique de Nancy

This paper presents a general methodology for identifying the dynamical part of the continuous-time model of an articulated arm including flexibilities dedicated to visual servoing. Based on this model, a H-infinity control law is designed and implemented, allowing to reach high dynamics.

Mots clés: instrumental variable; visual servoing; robot arm; H-infinity control; flexible manipulator; System identification; continuous-time models

Domaines: Automatique / Robotique

Luc Cuvillon, Edouard Laroche, Hugues Garnier, Jacques Gangloff, Michel de Mathelin. Continuous-time model identification of robot flexibilities for fast visual servoing. 14th IFAC Symposium on System Identification (SYSID'2006), Mar 2006, Newcastle, Australia. pp.1264-1269. ⟨hal-00109104⟩