Utilizing perception for feedback control in combination with Dynamic Movement Primitive (DMP)-based motion generation for a robot's end-effector control is a useful solution for many robotic manufacturing tasks. For instance, while performing an insertion task when the hole or the recipient part is not visible in the eye-in-hand camera, a learning-based movement primitive method can be used to generate the end-effector path. Once the recipient part is in the field of view (FOV), Image-based Visual Servo (IBVS) can be used to control the motion of the robot. Inspired by such applications, this paper presents a generalized control scheme that switches between motion generation using DMPs and IBVS control. To facilitate the design, a common state space representation for the DMP and the IBVS systems is first established. Stability analysis of the switched system using multiple Lyapunov functions shows that the state trajectories converge to a bound asymptotically. The developed method is validated by two real world experiments using the eye-in-hand configuration on a Baxter research robot.

翻译：使用基于动态运动Primitive(DMP)的动作生成的感知来进行反馈控制,用于机器人的终端效应控制,对于许多机器人制造任务来说,这是一个有用的解决办法。例如,当镜头中看不到洞或接收部分时,可以使用基于学习的移动原始方法来生成终端效应路径。一旦接收方进入视野领域(FOV),基于图像的视觉Servo(IBVS)就可以用来控制机器人的动作。在这种应用的启发下,本文件提出了一个通用的控制方案,在使用 DMP 和 IBVS 控制进行动作生成之间开关。为了便于设计,首先建立了DMP 和 IBVS 系统的通用国家空间代表。使用多个 Lyapunov 函数对转接系统进行的稳定分析表明,国家轨迹会集中到一个捆绑绑。 开发方法由两个真实的世界实验加以验证, 使用对一个巴克斯特研究机器人的眼部配置进行验证。