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Design of a partitioned visual feedback controller

Paul Y. Oh; Peter K. Allen

Title:
Design of a partitioned visual feedback controller
Author(s):
Oh, Paul Y.
Allen, Peter K.
Date:
Type:
Articles
Department:
Computer Science
Permanent URL:
Book/Journal Title:
Proceedings: 1998 IEEE International Conference on Robotics and Automation, May 16-20, 1998, Katholieke Universiteit Leuven, Leuven, Belgium
Publisher:
IEEE
Abstract:
Image-based servoing systems are often used to track moving targets and their underlying control architecture is a regulation of the image. This regulation is a function of rigid camera-to-target geometric constraints. Satisfying such constraints requires that the robot motors have sufficient velocity bandwidths, and often these bandwidths are limited. This paper lays down the foundation for a partitioned controller. Such a controller would coordinate a camera's DOF into a synergistic move to overcome bandwidth limitations. Tracking experiments are shown on a custom designed 5-DOF gantry robot which highlight the limitations of regulator-based control, as well as show how partitioning can be used to achieve more robust control.
Subject(s):
Robotics
Publisher DOI:
http://dx.doi.org/10.1109/ROBOT.1998.677294
Item views:
91
Metadata:
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