研究目的
To design an online image-based visual servoing (IBVS) controller for a 6-degrees-of-freedom (DOF) robotic system based on the robust model predictive control (RMPC) method, considering the robotic visual servoing system’s input and output constraints.
研究成果
The online MPC-based IBVS controller effectively addresses the constraints and uncertainties in visual servoing tasks, demonstrating stability and convergence in real-time experiments on a 6-DOF robot manipulator.
研究不足
The computational time of the optimization problem must be less than the sampling time to be implementable in real-time, requiring a trade-off between complexity and accuracy.
