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Joint-coupled compensation effects in visually servoed tracking

Paul Y. Oh; Peter K. Allen

Title:
Joint-coupled compensation effects in visually servoed tracking
Author(s):
Oh, Paul Y.
Allen, Peter K.
Date:
Type:
Articles
Department:
Computer Science
Permanent URL:
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
Publisher DOI:
http://dx.doi.org/10.1109/ROBOT.2000.846338
Item views:
78
Metadata:
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