VISUAL SERVOING CONTROLLER FOR ROBOT MANIPULATORS

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.