Title :
Vision-based PID control of planar robots
Author :
Cervantes, Ilse ; Garrido, Ruben ; Alvarez-Ramirez, Jose ; Martinez, Angel
Author_Institution :
Seccion de Estudios de Posgrado e Investigacion, ESIME-CU, Mexico City, Mexico
fDate :
3/1/2004 12:00:00 AM
Abstract :
The aim of this short paper is to study the stability of energy-shaping controllers for the regulation problem of robot manipulators with a vision-based feedback. Under the assumption of uncertain gravitational torques, it is shown that a classical integral action in composition with the transpose Jacobian matrix suffices to obtain asymptotic stability. The performance of proposed strategy is evaluated experimentally in a two degree-of-freedom robot moving on a vertical plane.
Keywords :
Jacobian matrices; asymptotic stability; feedback; manipulators; position control; robot vision; three-term control; torque; PID control; asymptotic stability; camera image; energy-shaping controller; planar robots; proportional + integral + derivative control; robot manipulator; transpose Jacobian matrix; two degree of freedom robot; uncertain gravitational torques; vision-based feedback; visual servoing; visual-based control; Asymptotic stability; Cameras; Control systems; Jacobian matrices; Manipulators; Robot control; Robot sensing systems; Robot vision systems; Three-term control; Torque control;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2004.823892
