Title

A comparative analysis of adaptive visual servo control for robots manipulators in 2D

DOI

https://doi.org/10.1109/CIIMA.2013.6682777

Document Type

Conference Proceeding

Publication Date

12-1-2013

Publication Title

2013 2nd International Congress of Engineering Mechatronics and Automation, CIIMA 2013 - Conference Proceedings

Abstract

Visual servoing is a useful approach for robot control. It is specially attractive when the control objective can be stated directly in image coordinates like in point-to-point regulation. The adaptive control is a technique very used in robot manipulators due to uncertainty in the dynamic model and when is combined with vision allows to handle uncertainty in the camera parameters. In this paper, we propose an adaptive control for a robot manipulator, which allows the displacement of the end-effector following a reference trajectory. It is assumed that the robot is planar and the camera fixed, so that the image plane is parallel to the manipulator workspace. Two well-known adaptive schemes have been simulated together with the proposed algorithm to compare the performance of the different approaches. Simulation results show the good performance of the complete system. © 2013 IEEE.

ISBN

9781479924714

Identifier

SCOPUS_ID:84893677817

Documento original

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