Abstract
This paper proposes a PWM control method based on visual servoing for precise robot motion control. We use a visual deviation between a target position and an end effector position in order to modulate a pulse width. This method does not require precise calibrations for both robot kinematics and visual sensors. The usefulness of the method is demonstrated through experiments using a robotic arm with 2 DOFs.
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More From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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