Dynamic sensor-based control of robots with visual feedback
- 1 October 1987
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal on Robotics and Automation
- Vol. 3 (5) , 404-417
- https://doi.org/10.1109/jra.1987.1087115
Abstract
Sensor-based robot control may be viewed as a hierarchical structure with multiple observers. Actuator, feature-based, and recognition observers provide the basis for multilevel feedback control at the actuator, sensor, and world coordinate frame levels, respectively. The analysis and design of feature-based control strategies to achieve consistent dynamic performance is addressed. For vision sensors, such an image-based visual servo control is shown to provide stable and consistent dynamic control within local regimes of the recognition observer. Simulation studies of two- and three-degree-of-freedom systems show the application of an adaptive control algorithm to overcome unknown and nonlinear relations in the feature to world space mapping.Keywords
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