Visual Servoing Controller for Robot Manipulators

Abstract— This paper presents a new control family of fixedcamera visual servoing for planar robot manipulators. The methodology is based-on energy shaping methodology in order to derive regulators for position-image visual servoing. The control laws have been composed by the gradient of an artificial potential energy plus a nonlinear velocity feedback. For a static target we characterize the global closed loop attractor using the dynamic robot and vision model, and prove the local asymptotic stability of the position control scheme using the Lyapunov theory. Inverse kinematics is used to obtain the angles of the desired position and those of the position joint from computed centroid. Experimental results on a two degrees of freedom of direct drive manipulator are presented.

• Type: Conference
• Year: 2009
• Where: CONIELECOMP
• Authors: Jaime Cid, Fernando Reyes
• Keywords: Communications, CONIELECOMP 2009, Position-image Visual Servoing, Visual Servoing, fixedcamera Visual Servoing