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

Rafael Kelly; Fernando Reyes; Javier Moreno; Seth Hutchinson

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 journal › Conference article › peer-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 language	English
Pages (from-to)	599-604
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
State	Published - 1999
Externally published	Yes
Event	Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: 10 May 1999 → 15 May 1999

Cite this

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title = "Two loops direct visual control of direct-drive planar robots with moving target",

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.",

author = "Rafael Kelly and Fernando Reyes and Javier Moreno and Seth Hutchinson",

year = "1999",

language = "Ingl{\'e}s",

volume = "1",

pages = "599--604",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

note = "Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 ; Conference date: 10-05-1999 Through 15-05-1999",

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TY - JOUR

T1 - Two loops direct visual control of direct-drive planar robots with moving target

AU - Kelly, Rafael

AU - Reyes, Fernando

AU - Moreno, Javier

AU - Hutchinson, Seth

PY - 1999

Y1 - 1999

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0032651987&partnerID=8YFLogxK

M3 - Artículo de la conferencia

AN - SCOPUS:0032651987

SN - 1050-4729

VL - 1

SP - 599

EP - 604

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99

Y2 - 10 May 1999 through 15 May 1999

ER -

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

Abstract

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