Two loops direct visual control of direct-drive planar robots with moving target

Rafael Kelly, Fernando Reyes, Javier Moreno, Seth Hutchinson

Research output: Contribution to journalConference articlepeer-review

Abstract

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.

Original languageEnglish (US)
Pages (from-to)599-604
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
StatePublished - Jan 1 1999
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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