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Time-analysis of a real-time sensor-servoing system using line-of-sight path tracking

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3 Author(s)
Schrimpf, J. ; Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway ; Lind, M. ; Mathisen, G.

This paper presents a study of the real-time control conditions for a robotic system with visual servo control. The system is based on an industrial manipulator with a modified controller allowing real-time joint-level control. The work is particularly concerned with delays and path deviations. The focus is on the Line-of-Sight based path tracking controller. The paper describes an analysis of the different delays in the sensor-robot system and a model is presented based on the overall delay. Further the stability of the modeled system is analyzed in respect to a specific control case. The correctness of the estimated system delay is indicated by comparison of simulated and experimental results.

Published in:

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Date of Conference:

25-30 Sept. 2011