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.

• Periodical: Advanced Materials Research (Volume 186)
• Pages: 277-280
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.186.277
• Online since: January 2011
• Authors: Shi Xiang Tian, Sheng Ze Wang
• Keywords: Image-Based Control, Lypapunov Function, Robot Manipulator, Visual Servoing

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