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
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;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657728
