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Vision-based PID control of planar robots

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4 Author(s)
Cervantes, I. ; Seccion de Estudios de Posgrado e Investigacion, ESIME-CU, Mexico City, Mexico ; Garrido, R. ; Alvarez-Ramirez, J. ; Martinez, A.

The aim of this short paper is to study the stability of energy-shaping controllers for the regulation problem of robot manipulators with a vision-based feedback. Under the assumption of uncertain gravitational torques, it is shown that a classical integral action in composition with the transpose Jacobian matrix suffices to obtain asymptotic stability. The performance of proposed strategy is evaluated experimentally in a two degree-of-freedom robot moving on a vertical plane.

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Mechatronics, IEEE/ASME Transactions on  (Volume:9 ,  Issue: 1 )