This paper proposes a PWM control method based on visual servoing for precise robot motion control. We use a visual deviation between a target position and an end effector position in order to modulate a pulse width. This method does not require precise calibrations for both robot kinematics and visual sensors. The usefulness of the method is demonstrated through experiments using a robotic arm with 2 DOFs.
This paper presents a practical usefUlness of a proposed method which Tealizes pr ise motion control of a SCARA robot by the integration of PWM signals and visual information . In our previous work , a precise reaching task of an end −effector of a SCARA robot was accompli8hed . In this paper , Pick−and place tasks are demonstrated by the method as an example for more pra £ ticaL The task is perfbrmed by a SCARA robot which has 4 DOFs .
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