DocumentCode
1919451
Title
Fixed-camera visual servo control for planar robots
Author
Kelly, Rafael ; Shirkey, Paul ; Spong, Mark W.
Author_Institution
Div. de Fisica Aplicada, CICESE, Ensenada, Mexico
Volume
3
fYear
1996
fDate
22-28 Apr 1996
Firstpage
2643
Abstract
We present a new controller to solve the visual servo control problem for planar robots in the fixed-camera configuration. For a static target we characterize the global closed loop attractor using the full robot dynamics, and prove local asymptotic stability of the end-effector tracking error. Neither the inverse kinematics nor the inverse Jacobian are used in the controller. Experimental results on a 2-DOF direct drive manipulator are presented
Keywords
asymptotic stability; closed loop systems; manipulator dynamics; optical tracking; position control; robot vision; servomechanisms; target tracking; asymptotic stability; closed loop systems; dynamics; end-effector; fixed-camera configuration; global closed loop attractor; planar robots; tracking error; visual servo control; Cameras; Error correction; Jacobian matrices; Machine vision; Manipulators; Robot kinematics; Robot vision systems; Servosystems; Stability analysis; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.506561
Filename
506561
Link To Document