6 DOF high speed dynamic visual servoing using GPC controllers

Presents a way to model visual servoing in the case of a 6 DOF industrial manipulator. The manipulator with its actuators (DC motors), their current feedback loops and their velocity control loops, are modeled as a “virtual Cartesian device”. The system with its visual feedback loop is decoupled to form 6 independent loops. Then, 6 generalized predictive controllers (GPC) are implemented online to take into account the dynamics of the manipulator. Simulations and experimental results show a drastic improvement in performance for a 6 DOF industrial manipulator in an eye-in-hand configuration compared to standard approaches neglecting these dynamics