An Image-Based Visual Servoing for Manipulator

Abstract:

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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 and S. Z. Wang, "An Image-Based Visual Servoing for Manipulator", Advanced Materials Research, Vol. 186, pp. 277-280, 2011

Online since:

January 2011

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Price:

$35.00

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