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Vizuelní servořízení pro manipulátor s neúplným počtem akčních prvků Espejel-Rivera, A. ; Ramos-Velasco, L. E. ; Čelikovský, Sergej This paper discusses the visual servo control of an underactuated mechanism under fixed-camera configuration. The control goal is to stabilize the system over a desired static target by using a vision system equipped with a fixed camera to observe the system and target. We present a control scheme based on the combination of a state observer and the visual feedback for an underactuated system,the so-called Pendubot, consisting in a double pendulum actuated only at the first joint. Detailed record

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