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Dynamic sensor-based control of robots with visual feedback

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3 Author(s)
L. Weiss ; Carnegie Mellon University, Pittsburgh, PA, USA ; A. Sanderson ; C. Neuman

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.

Published in:

IEEE Journal on Robotics and Automation  (Volume:3 ,  Issue: 5 )