Control Servo-Visual de un Robot Manipulador Planar Basado en Pasividad
[EN] In this work a visual servo control based on the passivity properties of the visual system is designed. It proposes a regulator with variable control gains, to avoid the saturations of the actuators while introducing the ability to correct errors of small magnitude. Also the design is done taki...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2008 |
| País: | España |
| Institución: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | español |
| OAI Identifier: | oai:riunet.upv.es:10251/145476 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/145476 |
| Access Level: | acceso abierto |
| Palabra clave: | Robot manipulador industrial Control servo visual Control no lineal Pasividad Industrial robot manipulator Visual servo control Non linear control Passivity |
| Sumario: | [EN] In this work a visual servo control based on the passivity properties of the visual system is designed. It proposes a regulator with variable control gains, to avoid the saturations of the actuators while introducing the ability to correct errors of small magnitude. Also the design is done taking into account the L2 performance, to give the capacity to track moving objects, with a small error control. Experimental results are showed in an industrial robot manipulator planar type to verify the compliance with the objectives of the proposed controller. |
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