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ICRA
1998
IEEE

Design of a Partitioned Visual Feedback Controller

9 years 6 months ago
Design of a Partitioned Visual Feedback Controller
Image-based servozng systems are often used to track moving targets and their underlying control architecture is a regulation of the image. This regulation is a function of rigid camera-to-target geometric constraints. Satisfying such constraints requires that the robot motors have suficient velocity bandwidths, and oflen these bandwidths are limited. This paper lays down the foundation for a partitioned controller. Such a controller would coordinate a camera's DOF into a synergistic move to overcome bandwidth limitations. Tracking experiments are shown on a custom designed 5 DOF gantry robot which highlight the limitations of regulator-based control, as well as show how partitioning can be used to achieve more robust control.
Paul Y. Oh, Peter K. Allen
Added 04 Aug 2010
Updated 04 Aug 2010
Type Conference
Year 1998
Where ICRA
Authors Paul Y. Oh, Peter K. Allen
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