Vision-based PID control of planar robots

Author

Cervantes, Ilse ; Garrido, Ruben ; Alvarez-Ramirez, Jose ; Martinez, Angel

Author_Institution

Seccion de Estudios de Posgrado e Investigacion, ESIME-CU, Mexico City, Mexico

Volume

9

Issue

1

fYear

2004

fDate

3/1/2004 12:00:00 AM

Firstpage

132

Lastpage

136

Abstract

The aim of this short paper is to study the stability of energy-shaping controllers for the regulation problem of robot manipulators with a vision-based feedback. Under the assumption of uncertain gravitational torques, it is shown that a classical integral action in composition with the transpose Jacobian matrix suffices to obtain asymptotic stability. The performance of proposed strategy is evaluated experimentally in a two degree-of-freedom robot moving on a vertical plane.

Keywords

Jacobian matrices; asymptotic stability; feedback; manipulators; position control; robot vision; three-term control; torque; PID control; asymptotic stability; camera image; energy-shaping controller; planar robots; proportional + integral + derivative control; robot manipulator; transpose Jacobian matrix; two degree of freedom robot; uncertain gravitational torques; vision-based feedback; visual servoing; visual-based control; Asymptotic stability; Cameras; Control systems; Jacobian matrices; Manipulators; Robot control; Robot sensing systems; Robot vision systems; Three-term control; Torque control;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/TMECH.2004.823892

Filename

1275488