DocumentCode
338969
Title
A two loops direct visual control of direct-drive planar robots with moving target
Author
Kelly, Rafael ; Reyes, Fernando ; Moreno, Javier ; Hutchinson, Seth
Author_Institution
Div. de Fisica Aplicada, CICESE, Ensenada, Mexico
Volume
1
fYear
1999
fDate
1999
Firstpage
599
Abstract
This paper addresses the visual servoing of robot manipulators in fixed-camera configuration for considering a moving target. We propose a control scheme consisting of two loops: an inner loop which is a joint velocity controller; and an outer loop which is an image-based feedback loop. We present the stability analysis and the experimental evaluation on a two degrees of freedom direct-drive planar robot arm
Keywords
closed loop systems; feedback; manipulator dynamics; robot vision; servomechanisms; velocity control; direct visual control; direct-drive planar robots; dynamics; feedback; robot manipulators; robot vision; velocity control; visual servoing; Cameras; Feedback loop; Manipulator dynamics; Robot kinematics; Robot vision systems; Servomechanisms; Symmetric matrices; Torque control; Velocity control; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.770041
Filename
770041
Link To Document