Controller Design for High-performance Visual Ser- Voing

@inproceedings{GOODzyControllerDF,
  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. 
9 Citations
3 References
Similar Papers

References

Publications referenced by this paper.
Showing 1-3 of 3 references

Symbolic and numerical investigation of manipulator performance limitingfactors

  • P. Corke
  • Proc . IEEE Region 10 Int . Conf .
  • 1992
2 Excerpts

Similar Papers

Loading similar papers…