Vision-based PID control of planar robots

Ilse Cervantes; Ruben Garrido; Jose Alvarez-Ramirez; Angel Martinez

doi:10.1109/TMECH.2004.823892

Vision-based PID control of planar robots

Ilse Cervantes, Ruben Garrido, Jose Alvarez-Ramirez, Angel Martinez

Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada (CICATA), Unidad Querétaro

Research output: Contribution to journal › Article › peer-review

16 Scopus citations

Abstract

The aim of this short paper is to study the stability of energy-shaping controllers for the regulation problem of robot manipulators with a vision-based feedback. Under the assumption of uncertain gravitational torques, it is shown that a classical integral action in composition with the transpose Jacobian matrix suffices to obtain asymptotic stability. The performance of proposed strategy is evaluated experimentally in a two degree-of-freedom robot moving on a vertical plane.

Original language	English
Pages (from-to)	132-136
Number of pages	5
Journal	IEEE/ASME Transactions on Mechatronics
Volume	9
Issue number	1
DOIs	https://doi.org/10.1109/TMECH.2004.823892
State	Published - Mar 2004

Keywords

Integral control
Planar robot
Robot control
Visual-servoing

Access to Document

10.1109/TMECH.2004.823892

Cite this

@article{5850c23e54c648f49520f2e672f401e9,

title = "Vision-based PID control of planar robots",

abstract = "The aim of this short paper is to study the stability of energy-shaping controllers for the regulation problem of robot manipulators with a vision-based feedback. Under the assumption of uncertain gravitational torques, it is shown that a classical integral action in composition with the transpose Jacobian matrix suffices to obtain asymptotic stability. The performance of proposed strategy is evaluated experimentally in a two degree-of-freedom robot moving on a vertical plane.",

keywords = "Integral control, Planar robot, Robot control, Visual-servoing",

author = "Ilse Cervantes and Ruben Garrido and Jose Alvarez-Ramirez and Angel Martinez",

year = "2004",

month = mar,

doi = "10.1109/TMECH.2004.823892",

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

volume = "9",

pages = "132--136",

journal = "IEEE/ASME Transactions on Mechatronics",

issn = "1083-4435",

number = "1",

}

TY - JOUR

T1 - Vision-based PID control of planar robots

AU - Cervantes, Ilse

AU - Garrido, Ruben

AU - Alvarez-Ramirez, Jose

AU - Martinez, Angel

PY - 2004/3

Y1 - 2004/3

N2 - The aim of this short paper is to study the stability of energy-shaping controllers for the regulation problem of robot manipulators with a vision-based feedback. Under the assumption of uncertain gravitational torques, it is shown that a classical integral action in composition with the transpose Jacobian matrix suffices to obtain asymptotic stability. The performance of proposed strategy is evaluated experimentally in a two degree-of-freedom robot moving on a vertical plane.

AB - The aim of this short paper is to study the stability of energy-shaping controllers for the regulation problem of robot manipulators with a vision-based feedback. Under the assumption of uncertain gravitational torques, it is shown that a classical integral action in composition with the transpose Jacobian matrix suffices to obtain asymptotic stability. The performance of proposed strategy is evaluated experimentally in a two degree-of-freedom robot moving on a vertical plane.

KW - Integral control

KW - Planar robot

KW - Robot control

KW - Visual-servoing

UR - http://www.scopus.com/inward/record.url?scp=1942486446&partnerID=8YFLogxK

U2 - 10.1109/TMECH.2004.823892

DO - 10.1109/TMECH.2004.823892

M3 - Artículo

SN - 1083-4435

VL - 9

SP - 132

EP - 136

JO - IEEE/ASME Transactions on Mechatronics

JF - IEEE/ASME Transactions on Mechatronics

IS - 1

ER -

Vision-based PID control of planar robots

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this