Modeling, Identification and Control of Robots
Modeling, Identification and Control of Robots
Robot Control: The Task Function Approach
Robot Control: The Task Function Approach
Dynamic Aspects of Visual Servoing and a Framework for Real-Time 3D Vision for Robotics
Revised Papers from the International Workshop on Sensor Based Intelligent Robots
General Solution for the Dynamic Modeling of Parallel Robots
Journal of Intelligent and Robotic Systems
A Review on the Dynamic Control of Parallel Kinematic Machines: Theory and Experiments
International Journal of Robotics Research
Foundations and Trends in Robotics
3D pose and velocity visual tracking based on sequential region of interest acquisition
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Parallel Robots
Simultaneous object pose and velocity computation using a single view from a rolling shutter camera
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part II
| Hi-index | 0.00 |
One of the main drawbacks of vision-based control that remains unsolved is the poor dynamic performances caused by the low acquisition frequency of the vision systems and the time latency due to processing. We propose in this paper to face the challenge of designing a high-performance dynamic visual servo control scheme. Two versatile control laws are developed in this paper: a position-based dynamic visual servoing and an image-based dynamic visual servoing. Both control laws are designed to compute the control torques exclusively from a sequential acquisition of regions of interest containing the visual features to achieve an accurate trajectory tracking. The presented experiments on vision-based dynamic control of a high-speed parallel robot show that the proposed control schemes can perform better than joint-based computed torque control.