Visual Servo Control of Industrial Robot Manipulator
نویسندگان
چکیده
This paper presents an image-based visual servo controller for an industrial robot. The simple structure controller is based on a transposed Jacobian which feeds back directly the image feature errors and the joint velocities. Under these hypotheses, the control algorithm does not need to use the inverse kinematics and the inverse jacobian matrix. Experimental results in two different industrial robots are also presented to illustrate the controller’s performance. Copyright © 2002 IFAC
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