Optimización en control visual de robots manipuladores
-
1
Universitat d'Alacant
info
- Inés Tejado Balsera (coord.)
- Emiliano Pérez Hernández (coord.)
- Antonio José Calderón Godoy (coord.)
- Isaías González Pérez (coord.)
- Pilar Merchán García (coord.)
- Jesús Lozano Rogado (coord.)
- Santiago Salamanca Miño (coord.)
- Blas M. Vinagre Jara (coord.)
Publisher: Universidad de Extremadura
ISBN: 978-84-9749-756-5, 978-84-09-04460-3
Year of publication: 2018
Pages: 249-255
Congress: Jornadas de Automática (39. 2018. Badajoz)
Type: Conference paper
Abstract
This paper describes the formulation of a direct imagebased visual servoing system for tracking trajectories with optimization of joint effort. The main components of this control strategy are described for its application to the guidance of manipulators.Making use of this control law it is possible, not only to optimize the torques to be applied for tracking trajectories, but also to specify the joints that will support more or less effort during the tracking. After describing the formulation, the validity of the controllers is demonstrated by simulation of a robot with three degrees of freedom.