Control dinámico de manipuladores móviles con realimentación visual

This paper proposes a direct image-based visual servoing system for the guidance of a mobile manipulator. The robot is composed of a mobile differential platform with a 7 dof (degrees of freedom) arm and an eye-in-hand camera. As described throughout the paper, the visual information is employed to guide both the robot manipulator and the base platform for the tracking of image trajectories. In contrast with previous approaches, the one proposed in this paper employs a direct visual servoing system for guiding mobile manipulators. In this case, the controller directly generates the torques (force and moments) to be applied to the manipulator and base platform taking into account the robot dynamics. This paper describes the different kinematic and dynamic components of the proposed controller and it is validated during the tracking of repetitive and nonrepetitive image trajectories