Visual control of robots with delayed images
Impacto
Scholar |
Otros documentos de la autoría: Pérez Vidal, Carlos; Gracia Marco, Luis; García, Nicolás; Cervera, Enric
Metadatos
Mostrar el registro completo del ítemcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/8620
comunitat-uji-handle4:
INVESTIGACIONEste recurso está restringido
http://dx.doi.org/10.1163/156855309X431695 |
Metadatos
Título
Visual control of robots with delayed imagesFecha de publicación
2009Editor
BrillISSN
0169-1864Cita bibliográfica
Advanced Robotics (2009), 23, 6, p. 725-745Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
http://www.swetswise.com/FullTextProxy/swproxy?url=http%3A%2F%2Fwww.tandfonline. ...Palabras clave / Materias
Resumen
This research develops a control scheme for visual servoing that explicitly takes into account the delay in- troduced by image acquisition and processing. For this purpose, a predictor block, i.e., an estimator that ... [+]
This research develops a control scheme for visual servoing that explicitly takes into account the delay in- troduced by image acquisition and processing. For this purpose, a predictor block, i.e., an estimator that predicts several samples ahead of time, is properly included in the scheme. The proposed approach is an- alytically analyzed in terms of dynamics and steady-state errors, and compared to previous approaches. Furthermore, several simulations are comparatively shown in order to illustrate the benefits and limitations of the proposed control scheme. Finally, some experimental results using a turntable and a 3-d.o.f. Cartesian robot are provided in order to validate the analytical and simulation results. [-]
Derechos de acceso
© Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009
http://rightsstatements.org/vocab/InC/1.0/
info:eu-repo/semantics/restrictedAccess
http://rightsstatements.org/vocab/InC/1.0/
info:eu-repo/semantics/restrictedAccess
Aparece en las colecciones
- ICC_Articles [423]