用于手持摄像机机器人系统的稳定视觉伺服控制器

1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI:10.1109/ICAR.1997.620171

R. Kelly, R. Carelli, O. Nasisi, B. Kuchen, F. Reyes

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引用次数: 5

摘要

本文提出了一种用于手持摄像机机器人系统的新型视觉伺服控制器。我们提供了一个李雅普诺夫稳定性分析，包括整个闭环系统的全部非线性机器人动力学。该控制系统除具有闭环稳定性外，还避免了逆运动学和逆雅可比矩阵的使用。以二自由度机械臂为例，对该控制器的性能进行了验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A stable visual servo controller for camera-in-hand robotic systems

In this paper we present a new visual servo controller for camera-in-hand robotic systems. We provide a Lyapunov stability analysis including the full nonlinear robot dynamics into the overall closed-loop system. Besides the closed-loop stability property, the control system obviates the use of the inverse kinematics and inverse Jacobian. Experiments on a two degrees of freedom robot manipulator are presented to illustrate the controller performance.

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来源期刊

1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97

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