In this paper, the 2-D control problem of a camera-in-hand robotic manipulator system is considered. The aim is to control the robot arm in such a way that the image of the tracked object coincides with the centre of the image plane. We propose a new control strategy with two loops in cascade, the internal loop solves the robot's joint control and the external loop implements the direct visual servoing. A decoupled controller (one for each image axis) has been developed. Experimental results with the link two(arm) and three(elbow) of the ASEA-IRB6 robot manipulator are presented to illustrate the control system performances.


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    Titel :

    A Decoupled Control for Visual Servoing of Camera-in-Hand Robot with 2D Movement


    Beteiligte:
    Hernández, Luis (Autor:in) / González, René (Autor:in) / Sahli, Hichem (Autor:in) / Rubio, Ernesto (Autor:in) / Guerra, Yoani (Autor:in)


    Erscheinungsdatum :

    01.09.2008


    Format / Umfang :

    466753 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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