Visual Servoing-Nonlinear Control Approach.

摘要

This paper proposes a visual feedback control scheme for an eye-in-hand robot. Previous visual feedback schemes treated the robot as an ideal device to generate the desired motion of the robot hand and hand-mounted camera. However, they are not suffitient for high speed tasks because the robot dynamics is neglected. This paper proposes a nonlinear model-based scheme which compensates the robot dynamics. Asymptotic stability of the proposed scheme is proved. Also the effectiveness of the nonlinear approach is verified by simulations and experiments on a two link direct drive robot.