DOF High Speed Dynamic Visual Servoing Using GPC Controllers

Abstract

This paper presents a new way t o model visual servoing in the case of a 6 DOF industrial manipulator. The manipulator with i ts actuators (DC motors), their current feedback loops and their velocity control loops, is modeled as a “virtual Cartesian device”. T h e system with i ts visual feedback loop i s decoupled to form 6 independent loops. Then, 6… (More)
DOI: 10.1109/ROBOT.1998.680610

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Cite this paper

@inproceedings{Gangloff1998DOFHS, title={DOF High Speed Dynamic Visual Servoing Using GPC Controllers}, author={Jacques Gangloff and Michel de Mathelin and Gabriel Abba}, booktitle={ICRA}, year={1998} }