Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2003.11b
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- Pages.247-250
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- 2003
Robust Control of Robot Manipulators using Visual Feedback
비젼을 이용한 로봇 매니퓰레이터의 강인 제어
- Published : 2003.11.21
Abstract
In this paper, we propose a robust controller for motion control of n-link robot manipulators using visual feedback. The desired joint velocity and acceleration is obtained by the feature-based visual systems and is used in the joint velocity control loop for trajectory control of the robot manipulator. We design a robust controller that compensates for bounded parametric uncertainties of robot dynamics. The stability analysis of robust joint velocity control system is shown by Lyapunov Method. The effectiveness of the proposed method is shown by simulation results on the 5-link robot manipulators with two degree of freedom.
Keywords