Kontrol Posisi Robot Manipulator Planar Tiga Derajat Kebebasan Berbasis Visual

Visual Servo Control of Industrial Robot Manipulator

This paper presents an image-based visual servo controller for an industrial robot. The simple structure controller is based on a transposed Jacobian which feeds back directly the image feature errors and the joint velocities. Under these hypotheses, the control algorithm does not need to use the inverse kinematics and the inverse jacobian matrix. Experimental results in two different industria...

Visual Servoing with a 2-link Planar Manipulator

Paddle Juggling by Robot Manipulator with Visual Servo

Juggling is a typical example to represent dexterous tasks of humans. There are many kinds of juggling, e.g., the ball juggling and club juggling in Fig. 1. Other kinds are the toss juggling, bouncing juggling, wall juggling, wall juggling, box juggling, devil sticks, contact juggling and so on. These days, readers can watch movies of these juggling in the website youtube and must be surprised ...

Predictive Control Architecture for Visual Servoing of Robot Manipulator

A novel architecture for integrating reference trajectory and image prediction is proposed to be used in predictive control of visual servoing systems. In the proposed method, a new predictor is developed based on the relation between the camera velocity and the time variation of the visual features given by the interaction matrix. In addition, a reference trajectory is introduced to define the...

Planar Parallel 3-rpr Manipulator

This paper describes the design, construction, and control of a planar three degree-of-freedom (dof) inparallel-actuated manipulator at Ohio University. The actuators are three pneumatic cylinders. Using real-time closed-loop feedback control for each actuator length independently, we develop inverse pose and resolved-rate control for this manipulator. The objective of this work is to implement...