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...

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Bibliographic Details
Main Authors: Kelly, R., Carelli, R., Nasisi, O., Kuchen, B., Reyes, F.
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Control systems
Jacobian matrices
Manipulator dynamics
Nonlinear dynamical systems
Robot control
Robot kinematics
Robot vision systems
Servomechanisms
Stability
Online Access:Request full text
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Summary: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.
DOI:10.1109/ICAR.1997.620171