Title :
Real-time visual predictive control of manipulation systems
Author :
Burlacu, Adrian ; Copot, Cosmin ; Cervera, Enric ; Lazar, Corneliu
Author_Institution :
Dept. of Autom. Control & Appl. Inf., Tech. Univ. of Iasi, Iasi, Romania
Abstract :
This paper presents the results obtained by visual predictive control laws in real-time visual servoing architectures. A key role when designing a stable image based control law is played by the visual features, and thus both points and image moments were considered and their performance revealed. A 6 d.o.f manipulator robot with an eye-in-configuration is used to design a visual servoing architecture and realtime implementation using Matlab is described. The results of different experiments for planar static objects are presented and discussed. For establishing the performance of visual predictive control laws a comparison with classical image based control laws is conducted.
Keywords :
dexterous manipulators; feature extraction; predictive control; real-time systems; robot vision; visual servoing; Matlab; degree of freedom; eye-in-conflguration; image moments; planar static objects; real-time architecture; robot manipulator; visual features; visual predictive control; visual servoing; Cameras; Computer architecture; Feature extraction; Joints; Visual servoing; Visualization;
Conference_Titel :
Advanced Robotics (ICAR), 2011 15th International Conference on
Conference_Location :
Tallinn
Print_ISBN :
978-1-4577-1158-9
DOI :
10.1109/ICAR.2011.6088610
