Abstract—This paper presents a new image based visual servoing (IBVS) control scheme for omnidirectional wheeled mobile robots with four swedish wheels. The contribution is the proposal of a scheme that consider the overall dynamic of the system; this means, we put together mechanical and electrical dynamics. The actuators are direct current (DC) motors, which imply that the system input signals are armature voltage applied to DC motors. In our control scheme the PD control law and eye-to-hand camera configuration are used to compute the armature voltages and to measure system states, respectively. Stability proof is performed via Lypunov direct method and LaSalle’s invariance principle. Simulation and experimental results were performed in order to validate the theoretical proposal and to show the good performance of the posture errors.


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    Title :

    Image Based Visual Servoing for Omnidirectional Wheeled Mobile Robots in Voltage Mode


    Contributors:

    Publication date :

    2018-04-30


    Remarks:

    oai:zenodo.org:1238761
    International Journal of Engineering Research & Science 4(4) 48-53



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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