Kinematic and dynamic 2D visual servoing

Gonçalves, Paulo

http://hdl.handle.net/10400.11/2981

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Authors

Gonçalves, Paulo

Abstract(s)

In this paper a comparison of kinematic and dynamic image-based (2D) visual servoing is accomplished. This comparison is based on a 2 dof planar robot manipulator constructed at Instituto Superior Técnico, and the simulation results are obtained using a Matlab 6.0 Simulink model under regulator control. For kinematic visual servoing, a control scheme with exponential decay is derived. For dynamic visual servoing, PD and inverse dynamics control were used. Finally, comparison results are presented.

Keywords

Visual servoing Machine vision Robotic manipulator Robot control

URI

http://hdl.handle.net/10400.11/2981

Citation

GONÇALVES, P.J.S. (2001) - Kinematic and dynamic 2D visual servoing. In Student Forum of European Control Conference, Porto, setembro. [S. l.: s.n]. p. 1-4