Abstract
Abstract This paper presents a real-time architecture for visual servoing of robot manipulators using nonlinear based predictive control. A 6 d.o.f robot manipulator with an eye-in-configuration is used to design the visual servoing architecture and a real-time implementation using Matlab is done. The results of different experiments conducted with two types of image moments based controllers (proportional and predictive with reference trajectory) are presented and discussed.
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