Fixed-camera visual servo control for planar robots

Abstract

We present a new controller to solve the visual servo control problem for planar robots in the fixed-camera configuration. For a static target we characterize the global closed loop attractor using the full robot dynamics, and prove local asymptotic stability of the end-effector tracking error. Neither the inverse kinematics nor the inverse Jacobian are used in the controller. Experimental results on a 2-DOF direct drive manipulator are presented.