End-Point Control of a Two-Link Flexible Manipulator Using the Landmark Tracking System
Book, Wayne John
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A Landmark Tracking System (LTS) is used for vision-based end-point position measurements of a large two-link flexible manipulator. Sampling time and repeatability of the LTS were investigated. Feedback of the end-point position is utilized in a look-and-move control structure, consisting of an inner joint-based loop and an outer vision-based loop. A static positioning algorithm was implemented and experimentally verified. This algorithm utilizes the manipulator Jacobian to transform a tip position error to a joint error. The joint error is then used to give a new reference input to the joint controller. The convergence of the algorithm is demonstrated experimentally under payload variation.