A Two Loops Direct Visual Control of Direct-Drive Planar Robots with Moving Target
نویسندگان
چکیده
This paper addresses the visual servoing of robot manipulators in fixed-camera configuration considering a moving target. We propose a control scheme consisting of two loops: an inner loop, which is a joint velocity controller, and an outer loop which is an image-based feedback loop. We present the stability analysis and the experimental evaluation on a two degrees of freedom direct-drive planar robot arm.
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