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Dynamic effects in high-performance visual servoing

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2 Author(s)
Corke, P.I. ; CSIRO, Preston, WA, Australia ; Good, M.C.

The authors discuss three dominant dynamic effects that are manifested in the use of robot end-mounted cameras for high-performance tracking and positioning tasks. They are time delay (or latency in the sensing and control blocks), time-varying loop gain due to perspective, and vibrations due to structural and drive compliance. Analysis of the dynamic is presented and compared with experimental results

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992