视觉伺服入门第三步：智能机器人控制论文阅读 Dealing with constraints in sensor-based robot control

想要更好的食用，建议先品尝如下两篇论文

1. 视觉伺服入门第一步：带你从经典论文阅读Visual servo control. I. Basic approach开启视觉伺服之旅
2. 视觉伺服入门第二步：带你从经典论文阅读Visual Servo Control Part II: Advanced Approaches进阶版

论文摘要

在本文中提出了一个多传感器机器人在多种约束条件下的控制框架。我们将来自多个传感器的特征处理为单个特征向量。我们方法的核心思想是考虑所有的约束因素，利用加权矩阵平衡每个特性的贡献。约束的添加使得我们的控制环节更加平滑。在控制设计中引入了多传感器建模的这一方法与线性二次控制相似。本篇论文主要讲述 的是三维定位6自由度机械臂的视觉伺服。任务要确保多个约束组合的同时执行。
我们所考虑的约束条件有可视性以及关节限制规避等。

A framework is presented in this paper for the control of a multi-sensor robot under several constraints. In this approach, the features coming from several sensors are treated as a single feature vector. The core of our approach is a weighting matrix that balances the contribution of each feature, allowing to take constraints into account.

多传感器建模

This section presents the general modeling of a multi-sensor robot. First, we define the global kinematic model, then we introduce the weighted signal error that will be used in the control law. We propose a generic weighting function that allows both balancing the sensor features and taking into account unilateral constraints.

我们之前已经推导过了特征雅克比的公式。
$$\dot{\mathbf{s}}={\mathbf{L}}_{\mathbf{s}}{}^c{\mathbf{W}}_e\mathbf{J}(q)\dot{q}$$

多传感器的测量向量为$\mathbf{s}=({\mathbf{s}}_1,{\mathbf{s}}_2,{\mathbf{s}}_3,{\mathbf{s}}_4...,{\mathbf{s}}_k)$,每一个测量的维度为m。我们可以得到如下运动学模型。

J s = L W e J q = [ L 1 … 0 ⋮ ⋱ ⋮ 0 … L k ] [ 1 W e ⋮ k W e ] e J q \mathbf{J}_{s}=\mathbf{L W}_{e}{\mathbf{J}}_{q}=\left[\begin{array}{ccc} \mathbf{L}_{1} & \ldots & 0 \\ \vdots & \ddots & \vdots \\ 0 & \ldots & \mathbf{L}_{k} \end{array}\right]\left[\begin{array}{c} { }^{1} \mathbf{W}_{e} \\ \vdots \\ { }^{k} \mathbf{W}_{e} \end{array}\right]{}^{e} \mathbf{J}_{q} Js​=LWe​Jq​=⎣⎢⎡​L1​⋮0​…⋱…</