Design of a partitioned visual feedback controller

Articles:

Title:: Design of a partitioned visual feedback controller
Author(s):: Oh, Paul Y.
Allen, Peter K.
Date:: 1998
Type:: Articles
Department:: Computer Science
Permanent URL:: http://hdl.handle.net/10022/AC:P:15216
Book/Journal Title:: Proceedings: 1998 IEEE International Conference on Robotics and Automation, May 16-20, 1998, Katholieke Universiteit Leuven, Leuven, Belgium
Publisher:: IEEE
Publisher Location:: Piscataway, N.J.
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
DOI:: http://dx.doi.org/10.1109/ROBOT.1998.677294