DocumentCode
324093
Title
Experimental evaluation of fixed-camera direct visual controllers on a direct-drive robot
Author
Reyes, Fernando ; Kelly, Rafael
Author_Institution
Univ. Autonoma de Puebla, Mexico
Volume
3
fYear
1998
fDate
16-20 May 1998
Firstpage
2327
Abstract
Addresses the visual servoing of robot manipulators in fixed-camera configuration. We present the experimental evaluation of three direct visual servo controllers on a planar two degrees of freedom direct-drive robot arm. These visual servo controllers belong to the family of transpose Jacobian-based control schemes yielding local asymptotic stability
Keywords
CCD image sensors; Jacobian matrices; asymptotic stability; closed loop systems; manipulator dynamics; robot vision; servomechanisms; direct-drive robot; fixed-camera direct visual controllers; local asymptotic stability; robot manipulators; transpose Jacobian-based control schemes; visual servo controllers; visual servoing; Cameras; Jacobian matrices; Manipulator dynamics; Robot kinematics; Robot vision systems; Servomechanisms; Symmetric matrices; Transmission line matrix methods; Visual servoing; Zirconium;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680670
Filename
680670
Link To Document