Visual servoing for an underactuated manipulator
| Authors: | Ramos-Velasco Luis Enrique, Universida Autonoma del Estado de Hidalgo, Mexico
Espejel Rivera Angelica, Universida Autonoma del Estado de Hidalgo, Mexico
Celikovsky Sergej, Institute of Information Theory and Automation, Academy of Sciences of the Czech Republic, Czech Republic |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Sensors and Control |
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| Keywords: | Underactuated systems, Visual servoing, Nonlinear observer, Pendubot. |
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Abstract
This paper discusses the visual servo control of an underactuatedmechanism under fixed-camera configuration. The control goal is tostabilize the system over a desired static target by using a visionsystem equipped with a fixed camera to observe the system andtarget. We present a control scheme based on the combination of astate observer and the visual feedback for an underactuated system,the so-called Pendubot, consisting in a double pendulumactuated only at the first joint. The paper ends with thepresentation of several simulation results and some guidelines forfuture work are drawn in the conclusion.
