2A2-O03 PWM Control using Visual Servoing for Precise Robot Motion Control(Mechanism and Control for Actuator (2))

Abstract

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.