DocumentCode
408105
Title
Visual based tracking of planar robot arms: a scheme using projection matrix
Author
Quach, Nghe H. ; Liu, Ming
Author_Institution
Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia
Volume
1
fYear
2003
fDate
8-13 Oct. 2003
Firstpage
588
Abstract
In this paper, we develop a new control strategy for a planar robot arm with hand-eye configuration. The control law uses the projection matrix instead of the position feedback in task space to perform the visual servoing. This is the extension of our previous work on the friction and gravity torques estimation and compensation for robot arms. A tracking control simulation program was written to illustrate the performance of the proposed controller.
Keywords
control system synthesis; feedback; manipulators; matrix algebra; position control; robot vision; control law; hand-eye configuration; planar robot arm control strategy; position feedback; projection matrix; task space; tracking control simulation program; visual based tracking; visual servoing; Cameras; Feedback; Friction; Gravity; Jacobian matrices; Manipulators; Orbital robotics; Robots; Transmission line matrix methods; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN
0-7803-7925-X
Type
conf
DOI
10.1109/RISSP.2003.1285640
Filename
1285640
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