Visual control of robots with delayed images
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Scholar |
Altres documents de l'autoria: Pérez Vidal, Carlos; Gracia Marco, Luis; García, Nicolás; Cervera, Enric
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http://dx.doi.org/10.1163/156855309X431695 |
Metadades
Títol
Visual control of robots with delayed imagesData de publicació
2009Editor
BrillISSN
0169-1864Cita bibliogràfica
Advanced Robotics (2009), 23, 6, p. 725-745Tipus de document
info:eu-repo/semantics/articleVersió de l'editorial
http://www.swetswise.com/FullTextProxy/swproxy?url=http%3A%2F%2Fwww.tandfonline. ...Paraules clau / Matèries
Resum
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. [-]
Drets d'accés
© Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009
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info:eu-repo/semantics/restrictedAccess
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info:eu-repo/semantics/restrictedAccess
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