LOW GAIN ROBUST VISUAL SERVOING WITH BOUNDED TRACKING ERRORS
P. Zanne* G. Morel** F. Plestan***
* LSIIT-GRAViR, Université Strasbourg 1 - CNRS, 67400 Illkirch, France, Philippe.Zanne@ensps.u-strasbg.fr
** LRP, Université Paris 6 - CNRS, 78400 Vélizy, France, Morel@robot.uvsq.fr
*** IRCCyN, ECN - CNRS, 44321 Nantes, France, Franck.Plestan@irccyn.ec-nantes.fr
This paper focuses on the design of robust vision based control of a 2-DOF planar manipulator. The controller is expressed in the image space, where the system can be modeled as a pure integrator with a nonlinear matrix gain. It involves a simple proportional controller with a feedforward velocity input. Robustness is provided by the guarantee of a bounded tracking error, thanks to the online computation on the desired velocity along the trajectory to be tracked. The approach is both formally proven and experimentally validated on a lab apparatus.
Keywords: Robust control, robot vision
Session slot T-Fr-A19: Robot Control/Area code 1d : Robotics

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