Direct visual servo control of a robot to track trajectories in supervision tasks

Author

Garcia, Gabriel J. ; Jara, Carlos A. ; Pomares, Jorge ; Torres, Fernando

Author_Institution

Phys., Syst. Eng. & Signal Theor. Dept., Univ. of Alicante, Alicante, Spain

fYear

2010

fDate

7-10 Dec. 2010

Firstpage

1434

Lastpage

1439

Abstract

This paper describes the modelling, simulation and visual servo control of a robot-arm designed for supervision of complex task environments. This robot (mini-robot) has 2 degrees of freedom (hereafter d.o.f.) and it is attached at the end of another anthropomorphic robot with 7 d.o.f. (main robot). In order to achieve a suitable supervision, the mini-robot has to perform a given trajectory around the workspace where the task is developed. With the purpose of obtaining an accurate and fast supervision, this paper presents a novel tracking method carried out in the image space using direct visual servo control.

Keywords

mobile robots; position control; robot dynamics; servomechanisms; visual servoing; anthropomorphic robot; direct visual servo control; image space; robot; trajectory tracking; visual servoing; Cameras; Jacobian matrices; Joints; Trajectory; Visual servoing; Visualization; direct visual servo; path tracking; visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-7814-9

Type

conf

DOI

10.1109/ICARCV.2010.5707284

Filename

5707284