Title :
A stable visual servo controller for camera-in-hand robotic systems
Author :
Kelly, Rafael ; Carelli, Ricardo ; Nasisi, Oscar ; Kuchen, Benjamín ; Reyes, Fernando
Author_Institution :
Div. de Fisica Aplicada, CICESE, Ensenada, Mexico
Abstract :
In this paper we present a new visual servo controller for camera-in-hand robotic systems. We provide a Lyapunov stability analysis including the full nonlinear robot dynamics into the overall closed-loop system. Besides the closed-loop stability property, the control system obviates the use of the inverse kinematics and inverse Jacobian. Experiments on a two degrees of freedom robot manipulator are presented to illustrate the controller performance
Keywords :
Lyapunov methods; closed loop systems; control system analysis; manipulator dynamics; nonlinear control systems; robot vision; servomechanisms; 2-DOF robot manipulator; Lyapunov stability analysis; camera-in-hand robotic systems; closed-loop stability property; full nonlinear robot dynamics; inverse Jacobian; inverse kinematics; stable visual servo controller; Cameras; Control systems; Jacobian matrices; Manipulator dynamics; Nonlinear dynamical systems; Robot control; Robot kinematics; Robot vision systems; Servomechanisms; Stability;
Conference_Titel :
Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-4160-0
DOI :
10.1109/ICAR.1997.620171
