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 language | English (US) |
|---|---|
| Pages (from-to) | 599-604 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 1 |
| State | Published - 1999 |
| Event | Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: May 10 1999 → May 15 1999 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering