DocumentCode
2020723
Title
Dynamics and system performance of visual servoing
Author
Vincze, Markus
Author_Institution
Inst. of Flexible Autom., Vienna Univ. of Technol., Austria
Volume
1
fYear
2000
fDate
2000
Firstpage
644
Abstract
The components in the control loop of a visual servoing system are analysed with respect to the dynamic performance. The performance measure is the velocity of the target that can be tracked and expressed as image pixel error. The best dynamic performance obtains the visual servoing system when the vision system operates at at the highest possible rate of image acquisition. The size of the tracking window results from image acquisition time. The optimal parallel architecture is independent of the computing power and the control method used
Keywords
manipulator dynamics; optical tracking; parallel architectures; robot vision; servomechanisms; dynamics; image acquisition; manipulators; parallel architecture; robot vision; target tracking; visual servoing; Concurrent computing; Control systems; Machine vision; Parallel architectures; Performance analysis; Pixel; System performance; Target tracking; Velocity measurement; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.844125
Filename
844125
Link To Document