tMechatronics Division -CINVESTAV, Mexico. { edeanjfierro) @mail.cinvestav.mx $Center for Advanced Technology -CIATEQ. Ketablo 150, Fovissste. Queretaro, Qro., MCxico §Facultad d e Matemlticas, Universidad Aut6noma de Yucatln, Mexico, eromero@tunku.uady.m.Abstmcl-Based on a recent state-of-the-art image-based visual feedback contiel scheme in fixed uncalibraled camera proposed by tho authors [31, lhe experimental verification is presented. However, image acquisition and promsing for closed-loop c~n l i o l introducer technological challenge thmugh L e time delay induced by L o CCD camera ikdf. Thus, IO p m o n e L e lime domain algorilhm and lo avoid diwmlization of our nonlinear rontmller, a practical prodirtor is introduced to obtain mugh ostimler of the image at lhe bandwidth of the roboL The nonlinear dynamics of the planar mbol is canridcmd for thc stability analysis.Exponential tracking arises due to a chattering-fme visual sliding made using PID conlmller based on image ercos trajectories. The experimental selup deseribs delails of the implementation of our previous theoretical msde wing a FireWim fixed camera. and a direct drive mbol for d e i d image trajectories. All camera and mbat parameters aro unknown, and experimental reyllts confirm the Leoreliral WS"It.3.
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