Publicação
Kinematic and dynamic 2D visual servoing
| Resumo: | In this paper a comparison of kinematic and dynamic image-based (2D) visual servoing is accomplished. This comparison is based on a 2 dof planar robot manipulator constructed at Instituto Superior Técnico, and the simulation results are obtained using a Matlab 6.0 Simulink model under regulator control. For kinematic visual servoing, a control scheme with exponential decay is derived. For dynamic visual servoing, PD and inverse dynamics control were used. Finally, comparison results are presented. |
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| Autores principais: | Gonçalves, Paulo |
| Assunto: | Visual servoing Machine vision Robotic manipulator Robot control |
| Ano: | 2001 |
| País: | Portugal |
| Tipo de documento: | documento de conferência |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Instituto Politécnico de Castelo Branco |
| Idioma: | inglês |
| Origem: | Repositório Científico do Instituto Politécnico de Castelo Branco |
| Resumo: | In this paper a comparison of kinematic and dynamic image-based (2D) visual servoing is accomplished. This comparison is based on a 2 dof planar robot manipulator constructed at Instituto Superior Técnico, and the simulation results are obtained using a Matlab 6.0 Simulink model under regulator control. For kinematic visual servoing, a control scheme with exponential decay is derived. For dynamic visual servoing, PD and inverse dynamics control were used. Finally, comparison results are presented. |
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