By Topic

Two-level visual control of dynamic look-and-move systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Conticelli, F. ; Scuola Superiore Sant''Anna, Pisa, Italy ; Allotta, B.

This paper focuses on the problem of controlling dynamic look-and-move systems, taking into account the robot dynamics in the visual control loop. In the case of interconnection to a linear robot subsystem, the problem of local feedback stabilization is solved by using the backstepping approach. Local stability of the equilibrium of the whole system is ensured under the assumption that the linear subsystem is minimum phase of relative degree one. A case study is also reported to validate the developed control design: a PUMA robot including its local controller is approximated by a diagonal linear subsystem and experimental results are shown with the robotic system in eye-in-hand configuration

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

Date of Conference: