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
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;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506561
