Paper Title:
An Image-Based Visual Servoing for Manipulator
  Abstract

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.

  Info
Periodical
Edited by
Wenya Tian and Linli Xu
Pages
277-280
DOI
10.4028/www.scientific.net/AMR.186.277
Citation
S. X. Tian, S. Z. Wang, "An Image-Based Visual Servoing for Manipulator", Advanced Materials Research, Vol. 186, pp. 277-280, 2011
Online since
January 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Jie Dong, Li Zhang
Chapter 9: Industrial Robotics and Automation
Abstract:Visual servo control is one of the central issues in the research field of intelligent robot. In order to obtain more effective information...
1221
Authors: Ling Yu Sun, Guang Ming Yuan, Jun Zhang, Zhe Liu, Li Xin Sun
Chapter 20: Industrial Robots and Manipulators
Abstract:Automatic machine vision-based manipulator used for button cell sorting has high academic value. Firstly, a detailed analysis of the visual...
2285
Authors: Yacine Benbelkacem, Rosmiwati Mohd-Mokhtar
Chapter 3: Robotics and Real World Applications
Abstract:Rate of convergence to the desired pose to grasp an object using visual information may be important in some applications, such as a pick and...
217