Title :
Experimental evaluation of fixed-camera direct visual controllers on a direct-drive robot
Author :
Reyes, Fernando ; Kelly, Rafael
Author_Institution :
Univ. Autonoma de Puebla, Mexico
Abstract :
Addresses the visual servoing of robot manipulators in fixed-camera configuration. We present the experimental evaluation of three direct visual servo controllers on a planar two degrees of freedom direct-drive robot arm. These visual servo controllers belong to the family of transpose Jacobian-based control schemes yielding local asymptotic stability
Keywords :
CCD image sensors; Jacobian matrices; asymptotic stability; closed loop systems; manipulator dynamics; robot vision; servomechanisms; direct-drive robot; fixed-camera direct visual controllers; local asymptotic stability; robot manipulators; transpose Jacobian-based control schemes; visual servo controllers; visual servoing; Cameras; Jacobian matrices; Manipulator dynamics; Robot kinematics; Robot vision systems; Servomechanisms; Symmetric matrices; Transmission line matrix methods; Visual servoing; Zirconium;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680670
