Academic Commons

Articles

Design of a partitioned visual feedback controller

Oh, Paul Y.; Allen, Peter K.

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.

Subjects

Files

Also Published In

Title
Proceedings: 1998 IEEE International Conference on Robotics and Automation, May 16-20, 1998, Katholieke Universiteit Leuven, Leuven, Belgium
Publisher
IEEE
DOI
https://doi.org/10.1109/ROBOT.1998.677294

More About This Work

Academic Units
Computer Science
Published Here
November 7, 2012
Academic Commons provides global access to research and scholarship produced at Columbia University, Barnard College, Teachers College, Union Theological Seminary and Jewish Theological Seminary. Academic Commons is managed by the Columbia University Libraries.