DocumentCode
321328
Title
Robust visual servo control for planar manipulators with the eye-in-hand configurations
Author
Maruyama, Akira ; Fujita, Masayuki
Author_Institution
Nachi-Fujikoshi Corp., Toyama, Japan
Volume
3
fYear
1997
fDate
10-12 Dec 1997
Firstpage
2551
Abstract
In this paper, we deal with a visual servo control problem for planar manipulators with the eye-in-hand configuration. We derive two types of the visual servo controllers to compensate the full Lagrangian robot dynamics using the Lyapunov theory. Experimental results are presented to illustrate the controllers performance
Keywords
Lyapunov methods; compensation; manipulator dynamics; robot vision; robust control; servomechanisms; Lagrangian robot dynamics; Lyapunov theory; eye-in-hand configurations; planar manipulators; robust visual servo control; Cameras; Control systems; Feedback; Jacobian matrices; Manipulator dynamics; Robust control; Servomechanisms; Servosystems; Symmetric matrices; Transmission line matrix methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location
San Diego, CA
ISSN
0191-2216
Print_ISBN
0-7803-4187-2
Type
conf
DOI
10.1109/CDC.1997.657728
Filename
657728
Link To Document