Vision-based 2D and 3D Control of Robot Manipulators

Abstract

In this chapter we presented an image-based visual controller 2D and 3D control of camerain-hand Robot Manipulators. The controllers are structured in two loops, the internal loop solves the robot's joint control and in the external loop is implemented a visual controller. The dynamic effect of the internal loop is approximated as an external loop time delay. The robotic and vision systems are modeled for small variation around the operating point for position control. In these conditions the stability of the whole system in discrete time is balanced for I and PI controllers in the external loop in both cases. A particular study is made using an ASEA IRB6 robot manipulator which has its wrist mechanically decoupled. This allows maintaining the orientation of camera axis while the arm is moving. The experimental results presented illustrate the control system's stability and performance.