Controller Design for High-performance Visual Ser- Voing

  title={Controller Design for High-performance Visual Ser- Voing},
  author={M. C. GOODzy}
  • M. C. GOODzy
This paper describes the design of a control architecture for robot visual servoing, in particular high-performance tracking control. A 50Hz vision system in conjunction with an end-eeector mounted camera is used to close the robots position loop. The limitations of pure feedback control are discussed, and an approach based on estimated target velocity feedforward is introduced. Experimental results are provided. 
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