Dynamic Issues in Robot Visual-Servo Systems

@inproceedings{Corke1996DynamicII,
  title={Dynamic Issues in Robot Visual-Servo Systems},
  author={Peter Corke},
  year={1996},
  url={https://api.semanticscholar.org/CorpusID:15163065}
}
This paper poses a number of questions related to the performance and structure of closed-loop visual control, or visual servo, systems and the choice of feedback versus feedforward control.
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35 Citations
Background Citations
17
Methods Citations
2

35 Citations

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Design, delay and performance in gaze control: Engineering and biological approaches

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  • Engineering, Biology
    Block Island Workshop on Vision and Control
  • 1997
Control models for robotic and biological gaze control systems are reviewed with an emphasis on dynamics characteristics and performance, taking into account more recent neurophysiological models and high-performance visual servoing results.

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— The research described in this paper focusses on direct dynamic visual servoing. A mechanical system is controlled on the basis of vision only. Therefore, with respect to the kinematic visual…

Delay dependent stability limits in high performance real-time visual servoing systems

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Predictive vision based control of high speed industrial robot paths

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High Speed Visual Motion Control Applied to Products With Repetitive Structures

This paper focusses on direct dynamic visual servoing at high sampling rates in machines used for the production of products that consist of equal features placed in a repetitive pattern. The word…

Direct dynamic visual servoing at 1 kHz by using the product as 1.5D encoder

This paper focusses on direct dynamic visual servoing at high sampling rates for machines used for the production of products that inherently consist of equal features placed in a repetitive pattern.…

Dynamic visual servoing with Kalman filter-based depth and velocity estimator

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20 References

Controller Design for High-Performance Visual Servoing

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A distinction between visual kinematic and visual dynamic control is introduced, concerned with how the manipulator should move in response to perceived visual features, which is well addressed in the literature.

Dynamic effects in high-performance visual servoing

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: time delay, time-varying loop gain due to perspective, and vibrations due to structural and drive compliance.

Dynamic visual servo control of robots: An adaptive image-based approach

An analytical approach to dynamic robot visual servo control systems is formalized by first casting position-based and image-based strategies into classical feedback control structures, and a model reference adaptive controller is designed to satisfy these requirements.

Manipulator control with image-based visual servo

A visual feedback control scheme, called image-based visual servo, is proposed for manipulators with cameras on their hands that is stable even under noisy conditions, while the conventional position-based servo tends to be unstable.

Vision and control techniques for robotic visual tracking

The authors propose the use of sum-of-squared differences optical flow for the computation of the vector of discrete displacements each instant of time for real-time visual tracking of arbitrary 3-D objects traveling at unknown velocities in a 2-D space.

Real-time visual feedback control for hand-eye coordinated robotic systems

This thesis discusses three coherent main topics of visual feedback control as they pertain to the control of a hand-eye coordinated robotic system: a multi-loop resolved motion rate control structure, an adaptive self-tuning controller to fine tune the transformation from feature space to robot joint space and to predict the position of image features.

Improved force control laws for advanced tracking applications

An approach is presented to improve the performance of existing control laws when the end effector is in contact with a moving object or when it moves along the surface of the object. The approach…

Dynamic Models for Control System Design of Integrated Robot and Drive Systems

The design of high performance motion controls for industrial robots is based on accurate models for the robot arm and drive systems. This paper presents analytical models and experimental data to…

Introduction to dynamic models for robot force control

Endpoint compliance strategies for precise robot control utilize feedback from a force sensor located near the tool/ workpiece interface. The closed-loop performance of such endpoint force control…

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