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ID 30046
フルテキストURL
著者
Hashimoto, Koichi Okayama University
Noritsugu, Toshiro Okayama University Kaken ID publons researchmap
抄録

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

キーワード
CCD image sensors
closed loop systems
feature extraction
image motion analysis
nonlinear control systems
observers
robot dynamics
robot kinematics
robot vision
stability
備考
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.
発行日
1999-5
出版物タイトル
Robotics and Automation
1巻
開始ページ
263
終了ページ
268
資料タイプ
学術雑誌論文
言語
英語
査読
有り
DOI
Submission Path
industrial_engineering/88