Experimental Evaluation of Three Fixed-Camera Visual Servo Controllers on a Robot–Pendulum
نویسنده
چکیده
This paper addresses the visual servoing problem of a robot–pendulum in fixed–camera configuration. We present two new visual position controllers supported by a rigorous analysis of local asymptotic stability in agreement with the Lyapunov’s direct method and the LaSalle’s invariance principle. The proposed controllers belong to the family of Transpose Jacobian-based schemes. We also present the experimental evaluation of three visual servo controllers on a direct–drive robot–pendulum. Key-Words: Visual servoing, Fixed–Camera, Visual controllers, Lyapunov function.
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