Visual control of robots with delayed images
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Other documents of the author: Pérez Vidal, Carlos; Gracia Marco, Luis; García, Nicolás; Cervera, Enric
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Show full item recordcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/8620
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http://dx.doi.org/10.1163/156855309X431695 |
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Title
Visual control of robots with delayed imagesDate
2009Publisher
BrillISSN
0169-1864Bibliographic citation
Advanced Robotics (2009), 23, 6, p. 725-745Type
info:eu-repo/semantics/articlePublisher version
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Abstract
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. [-]
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© Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009
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- ICC_Articles [430]