Fixed-camera visual servo control for planar robots
نویسندگان
چکیده
Rafael Kelly Paul Shirkey and Mark W. Spong Divisi on de F sica Aplicada University of Illinois CICESE, Apdo. Postal 2615, Adm. 1 Coordinated Science Laboratory Carretera Tijuana{Ensenada Km. 107 1308 West Main Street Ensenada, B. C., 22800 Urbana, IL 61801 MEXICO USA Abstract We present a new controller to solve the visual servo control problem for planar robots in the xed{ camera con guration. For a static target we characterize the global closed loop attractor using the full robot dynamics, and prove local asymptotic stability of the end{e ector tracking error. Neither the inverse kinematics nor the inverse Jacobian are used in the controller. Experimental results on a 2 DOF direct drive manipulator are presented.
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