High-speed visual servoing of a 6-d.o.f. manipulator using multivariable predictive control

@article{Gangloff2003HighspeedVS,
  title={High-speed visual servoing of a 6-d.o.f. manipulator using multivariable predictive control},
  author={Jacques Gangloff and Michel de Mathelin},
  journal={Advanced Robotics},
  year={2003},
  volume={17},
  pages={1021 - 993}
}
This paper presents a new approach to model and control high-speed 6-d.o.f. visual servo loops. The modeling and control strategy take into account the dynamics of the velocity-controlled 6-d.o.f. manipulator as well as a simplified model of the camera and acquisition system in order to significantly increase the bandwidth of the servo loop. Multi-input multi-output generalized predictive control (GPC) is used to optimally control the visual loop with respect to the proposed dynamical model… 

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