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.



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Proceedings: 1998 IEEE International Conference on Robotics and Automation, May 16-20, 1998, Katholieke Universiteit Leuven, Leuven, Belgium

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Academic Units
Computer Science
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November 7, 2012