VISUAL SERVOING CONTROLLER FOR ROBOT MANIPULATORS

被引：0

作者：

Cid, Jaime ^{[1
]}

Reyes, Fernando ^{[1
]}

机构：

[1] Benemerita Univ Autonoma Puebla, Grp Robot, Fac Ciencias Elect, Puebla 72001, Mexico

来源：

ICINCO 2009: PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 1: INTELLIGENT CONTROL SYSTEMS AND OPTIMIZATION | 2009年

关键词：

Visual servoing; Control; Robot manipulator; Direct drive; Lyapunov function; Global asymptotic stability; DIRECT-DRIVE ROBOT; FEEDBACK;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：291 / 297

页数：7

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