Resumo

GONZALEZ DORANTES, Armando Nicolás  e  SOTO, Santos Miguel Orozco. Robust Visual Feedback for the Control of a Robot Manipulator with Position Actuator. EAC [online]. 2024, vol.45, n.1, pp. 38-50.  Epub 20-Maio-2024. ISSN 1815-5928.

This work presents a strategy to improve the control of robot manipulators actuated by servomotors controlled in position. The improvement consisted on using artificial vision in order to implement a second control loop that guarantees the joint position tracking of the desired values. The visual feedback algorithm is robust upon rotations and translations of the camera, which is its main advantage against other similar approaches reported in the literature. The proposed technique was tested on a 3 DOF robot with position actuators, to which different desired joint positions were commanded and regulated through a PID controller. The experiments were performed with different rotation angles of the camera, obtaining successful results by reducing the joint position errors with respect to the position regulation without visual feedback.

Palavras-chave : Vision-based control; robotics vision; visual feedback; robots control.

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