A two loops direct visual control of direct-drive planar robots with moving target

摘要

This paper addresses the visual servoing of robot manipulators in fixed-camera configuration for considering a moving target. We propose a control scheme consisting of two loops: an inner loop which is a joint velocity controller; and an outer loop which is an image-based feedback loop. We present the stability analysis and the experimental evaluation on a two degrees of freedom direct-drive planar robot arm.