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Simulation of Vision-Based Manipulator Control Algorithms using RoboticsToolBox in Matlab

image image

Find target, Point target

Introduction

This project mainly simulates four Manipulator control algorithms:

  1. Linear Camera Space Manipulation (LCSM)
  2. Image-Based Visual Servo with monocular vision system (Monocular IBVS)
  3. Image-Based Visual Servo with binocular vision system (Binocular IBVS)
  4. Position-Based Visual Servo with binocular vision system (Binocular PBVS)

These algorithms are applied to a 6R PUMA robot manipulator using Robotics Toolbox.

Prerequisites

Before running code, make sure you have Robotics Toolbox installed in Matlab.

Robotics Toolbox (RTB) is a useful Matlab toolbox, which provides functions related to robotics. You can click the link to download RTB and install it.

All codes have Only been tested on

  • Windows10 1809
  • Matlab R2018b
  • Robotics Toolbox 10.3.1

There is no guarantee that the codes have good compatibility in other versions.

Usage

Four folders in the repository represent four control algorithms.

Double-click Main.m in the each folder to start simulation of corresponding control algorithm.

That‘s simple~ Enjoy playing robot!!

⭐ Star us on GitHub — it helps!