Visual control of robotic manipulators: designing a simplified stabilizing controller
Abstract
An Image Based Visual Servoing controller for the tip trajectory tracking of rigid manipulators is considered in this paper. Inspired by the task space robot control, an approach to design a visual control law, that takes into account the manipulator dynamics, is proposed. Moreover, to avoid an excessive computational burden, two simplified visual control laws are introduced supported by rigorous proofs of stability based on Lyapunov theory. Simulation results show the effectiveness of these simplified controllers.
