Hybrid strategies for image constraints avoidance in visual servoing

Abstract

In this paper, hybrid motion control and planning strategies for image constraints avoidance in robot visual servoing are presented. The proposed methods consist of a local switching control method and a global hybrid trajectory planning method. In local switching control, image local minima and image singularities can both be resolved by hybrid image-based… (More)
DOI: 10.1109/IRDS.2002.1041413

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