VISUAL SERVOING CONTROLLER FOR ROBOT MANIPULATORS

Jaime Cid, Fernando Reyes

Abstract

This paper presents a new family of fixed-camera visual servoing for planar robot manipulators. The methodology is based on energy-shaping framework in order to derive regulators for position-image visual servoing. The control laws have been composed by the gradient of an artificial potential energy plus a nonlinear velocity feedback. For a static target we characterize the global closed loop attractor using the dynamic robot and vision model, and prove global asymptotic stability of position error for the control scheme, the so called position-based visual servoing. Inverse kinematics is used to obtain the angles of the desired joint, and those of the position joint from computed centroid. Experimental results on a two degrees of freedom direct drive manipulator are presented.

References

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Paper Citation


in Harvard Style

Cid J. and Reyes F. (2009). VISUAL SERVOING CONTROLLER FOR ROBOT MANIPULATORS . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8111-99-9, pages 291-297. DOI: 10.5220/0002246302910297


in Bibtex Style

@conference{icinco09,
author={Jaime Cid and Fernando Reyes},
title={VISUAL SERVOING CONTROLLER FOR ROBOT MANIPULATORS},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2009},
pages={291-297},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002246302910297},
isbn={978-989-8111-99-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - VISUAL SERVOING CONTROLLER FOR ROBOT MANIPULATORS
SN - 978-989-8111-99-9
AU - Cid J.
AU - Reyes F.
PY - 2009
SP - 291
EP - 297
DO - 10.5220/0002246302910297