이미지 기반 시각 구동을 이용한 로봇 매니퓰레이터의 관절 속도 제어

Robot Manipulator Joint Velocity Control Using Image-based Visual Servoing

This paper presents a robot manipulator kinematic motion control scheme based on velocity feedback loop. The desired joint velocity is obtained by the feature-based visual servoing and is used in the joint velocity control loop system for trajectory control of the robot manipulator. The asymptotic stability of the closed loop system is shown by the Lyapunov method. Effectiveness of the proposed method is shown by simulation and experimental results on a robot manipulator with two degree of freedom.