抄録
We propose a control of the two-degree-of-freedom robot manipulator based on an image coordinates of the eye-in-hand camera. In this method, the control input for each joint actuator are directly calculated using the position and velocity information represented on the image coordinate system of the eye-in-hand camera. The velocity and position information, which is necessary for PID control of the manipulator, can be obtained with low latency by using the high-speed camera and image processing by the FPGA circuit. We examined the performance of the position control of the robot manipulator through the experiments.
