Joint-coupled compensation effects in visually servoed tracking

Articles:

Title:: Joint-coupled compensation effects in visually servoed tracking
Author(s):: Oh, Paul Y.
Allen, Peter K.
Date:: 2000
Type:: Articles
Department:: Computer Science
Permanent URL:: http://hdl.handle.net/10022/AC:P:15197
Book/Journal Title:: Proceedings: 2000 IEEE International Conference on Robotics and Automation: April 24-28, 2000, San Francisco Hilton Hotel, San Francisco, California
Publisher:: IEEE
Publisher Location:: Piscataway, N.J.
Abstract:: Humans have degrees-of-freedom (DOF) of varying bandwidths and one casually observes that we coordinate these DOF while visually tracking. This suggests that joint interplay aids tracking performance. In a control scheme we call partitioning, both image and kinematic data are used to visually-servo a 5-DOF robot by defining a joint-coupling among the rotational and translational DOF. Analysis of simulations and experiments reveal that a robot's fast bandwidth joints physically serve as lead compensators when coupled to slower joints thus reducing tracking lag.
Subject(s):: Computer science
DOI:: http://dx.doi.org/10.1109/ROBOT.2000.846338