An Image-based Visual Servoing for Manipulator

被引：0
|
作者：
Tian, Shi-xiang [1 ]
Wang, Sheng-ze [1 ]
机构：
[1] Donghua Univ, Coll Mech Engn, Shanghai 201620, Peoples R China
来源：
NEW TRENDS AND APPLICATIONS OF COMPUTER-AIDED MATERIAL AND ENGINEERING | 2011年 / 186卷
关键词：
image-based control; visual servoing; robot manipulator; Lypapunov function;
D O I：
10.4028/www.scientific.net/AMR.186.277
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
In this paper, an image-based controller for tracking control of robot manipulators using a single camera is proposed. The proposed controller has robustness to parametric uncertainties of the robot manipulator and compensation for uncertainties included in the image Jacobian. The stability of the closed-loop system is proved by Lyapunov approach. The performance of the proposed method is demonstrated by simulation experiments on a 3-link robot manipulator with three degree of freedom.
引用
收藏
页码：277 / 280
页数：4
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