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

fYear

1997

fDate

7-9 Jul 1997

Firstpage

117

Lastpage

123

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620171

Filename

620171