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En este libro se presenta en el marco del control visual de robots, dos controladores proporcional derivativo con retroalimentacin visual, los cuales no requieren de informacin referente a la dinmica del robot debido a que se utiliza una compensacin de los pares gravitacionales a travs de una red neuronal de funciones radiales bsicas. En lugar de utilizar el aprendizaje backpropagation o la regla de aprendizaje delta, comnmente usados en la literatura para ajustar los pesos de la red neuronal, se desarrollarn reglas de aprendizaje que se obtendrn directamente mediante el anlisis de estabilidad por el mtodo de Lyapunoy. As mismo, se mostrar el caso cuando existe adems incertidumbre en los parmetros de la matriz Jacobiana del robot. El desempeo de los controladores propuestos ser mostrado a nivel experimental estudiando el caso de control de posicin (setpoint regulation) a travs de una plataforma constituida de un robot manipulador con articulaciones rotacionales de dos grados de libertad y un sistema de visin que est constituido por una cmara analgica fija que captura tanto al robot como a su ambiente de trabajo.
⚠️ WARNING (California Proposition 65):
This product may contain chemicals known to the State of California to cause cancer,
birth defects, or other reproductive harm.
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