Controlling an Uninstrumented Manipulator By Visual Servoing

Controlling an Uninstrumented Manipulator By Visual Servoing

In this paper we present a method to control the displacement of a robot arm with no proprioceptive sensor. The joint positions are not available and this manipulator is usually open-loop controlled. In order to get a more efficient control interface, we propose a closed-loop system based on an eye-to-hand visual servoing approach. We show that, using such an approach, measurements of the manip...

Visual Servoing with a 2-link Planar Manipulator

Non-Linear PID Control for Robotic Manipulator Visual Servoing

This paper presents an experimental study on the use of visual servoing for robotic tracking and manipulation of targets moving on a plane. In this work, the image is acquired from the camera mounted on the end-effector of a 6 DOF industrial robot, so that the camera moves on a plane parallel to that of object motion. Using a PID visual controller to minimize the relative displacement between o...

Coordinated mobile manipulator point-stabilization using visual-servoing techniques

In this paper we consider the problem of stabilizing in a desired configuration a mobile manipulator; only the arm’s joint displacements information and the measures provided by a camera mounted on the end-effector are used to stabilize the system. In particular, no knowledge about the position and the orientation of the mobile base is supposed to be available. An hybrid control algorithm, base...

Visual servoing with hand-eye manipulator-optimal control approach

This paper proposes a control theoretic formulation and a controller design method for the feature-based visual servoing with redundant features. The linear time-invariant (LTI) formulation copes with the redundant features and provides a simple framework for controller design. The proposed linear quadratic (LQ) method can deal with the redundant features, which is important because the previou...