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Joint-coupled compensation effects in visually servoed tracking

Oh, Paul Y.; Allen, Peter K.

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.

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Title
Proceedings: 2000 IEEE International Conference on Robotics and Automation: April 24-28, 2000, San Francisco Hilton Hotel, San Francisco, California
Publisher
IEEE
DOI
https://doi.org/10.1109/ROBOT.2000.846338

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Academic Units
Computer Science
Published Here
November 5, 2012