Behavioristic Vision based Control of Robot Manipulators

S.H. Shahri, F. Rastegar, and K. Fouladi (Iran)

Keywords

Behaviorbased systems, feature extraction, image processing, subsumption architecture, visual servoing

Abstract

This paper concerns the control of a robot manipulator by means of passive vision. A visual servoing framework will be established during the control of a 3 degree-of freedom robot manipulator. This particular type of behavioristic control scheme is especially favorable because it is cost effective and robust to a wide range of kinematics and dynamic, modeling and calibration errors. In fact in this work, we follow a somewhat model-free procedure to prove its robustness and stability.

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