Behavioristic Vision based Control of Robot Manipulators

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


Behavior-based systems, feature extraction, image processing, subsumption architecture, visual servoing


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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