| ID | 30046 |
| FullText URL | |
| Author |
Hashimoto, Koichi
|
| Abstract | One of the most important problems in feature-based visual servoing is the slow sampling rate and the delay of the camera that can make the closed loop system oscillative or unstable easily. In the paper, a linearized observer that estimates the object velocity and updates the visual information with the joint sampling rate is proposed. Stability of the observer-based control system and effectiveness of the observer are verified by experiments on a PUMA 560 robot |
| Keywords | CCD image sensors
closed loop systems
feature extraction
image motion analysis
nonlinear control systems
observers
robot dynamics
robot kinematics
robot vision
stability
|
| Note | Digital Object Identifier: 10.1109/ROBOT.1999.769982
Published with permission from the copyright holder. This is the institute's copy, as published in Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, 10-15 May 1999, Vol. 1, Pages 263-268. Publisher URL:http://dx.doi.org/10.1109/ROBOT.1999.769982 Copyright © 1999 IEEE. All rights reserved. |
| Published Date | 1999-5
|
| Publication Title |
Robotics and Automation
|
| Volume | volume1
|
| Start Page | 263
|
| End Page | 268
|
| Content Type |
Journal Article
|
| language |
English
|
| Refereed |
True
|
| DOI | |
| Submission Path | industrial_engineering/88
|
