Vision-Based Tip Position Control of a Single-Link Robot Manipulator

Abstract

Nowadays, robot manipulators are an important part of the automation and control sector, so they indicate the significance of the associated control methodologies. These finds broad applications in various areas, especially in medical, aerospace and industrial assembly processes. Rigid robot manipulators form an important class of manipulators where they interact with the environment physically. Robot manipulator is a non-collocated system that leads to inaccurate system performance. To solve the aforesaid issue, a vision sensor can be employed for direct measurement of tip position instead of the traditional mechanical sensors. The major objective of the work presented here is development of a vision-based method for controlling the tip position of a planar 2-DOF single-link rigid robot manipulator (2DSLRM) from one point to another. In this paper, to achieve the desired tip position, feedback is taken from an encoder and visual sensor from the tip of Single-Link Robot Manipulator (SLRM). The acquired results show that the developed control method improves tip position control performance of 2DSLRM as compared to the traditional mechanical sensors. Simulation and experiment have been performed to study the performance of the proposed tip position control of 2DSLRM.