October 8, 2018
Our paper “Optimization in visual servoing in robot manipulators” has obtained the 2018 award of The Robotics Thematic Group (GTRob) of the Spanish Committee of Automation (CEA). The award is sponsored by Robotnik. This paper describes the formulation of a direct image-based visual servoing system for tracking trajectories with optimization of joint effort. The main components of this control strategy are described for its application to the guidance of manipulators. Making use of this control law is possible, not only to optimize the torques to be applied for tracking trajectories, but also to specify the joints that will support more or less effort during the tracking. This research is part of the final degree project under development by our undergraduate student Álvaro Belmonte. Congratulations!