3D Visual Servoing Control for Robot Manipulators Without Parametric Identification
DOI
https://doi.org/10.1109/TLA.2015.7069076
Document Type
Article
Publication Date
3-1-2015
Publication Title
IEEE Latin America Transactions
Abstract
Visual servoing control of robot manipulators represents a natural option in unstructured environments and it is specially attractive when the task to achieve can be expressed directly in image coordinates. In the present work a control law is developed for trajectory tracking of three degrees of freedom robot manipulators. The main characteristic of the proposed algorithm is that it does not need any dynamic model of the system and image coordinates are employed directly for feedback, while an observer is designed for velocity estimation. To carry out 3D movements no stereoscopic vision is used. Rather, a simpler configuration employing two fixed cameras is proposed which makes unnecessary their calibration and helps avoid occlusions for most of the robot's workspace. The developed theory was successfully tested in an industrial manipulator.
Volume
13
Issue
3
First Page
569
Last Page
577
ISSN
15480992
Recommended Citation
Arteaga Pérez, Marco Antonio and Bueno-López, Maximiliano, "3D Visual Servoing Control for Robot Manipulators Without Parametric Identification" (2015). Scopus Unisalle. 426.
https://ciencia.lasalle.edu.co/scopus_unisalle/426
Identifier
SCOPUS_ID:84927137910