DocumentCode
3175885
Title
Dynamic effects in high-performance visual servoing
Author
Corke, Peter I. ; Good, Malcolm C.
Author_Institution
CSIRO, Preston, WA, Australia
fYear
1992
fDate
12-14 May 1992
Firstpage
1838
Abstract
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. They are time delay (or latency in the sensing and control blocks), time-varying loop gain due to perspective, and vibrations due to structural and drive compliance. Analysis of the dynamic is presented and compared with experimental results
Keywords
computer vision; control system analysis; dynamics; robots; servomechanisms; drive compliance; dynamic effects; positioning; robot; structural compliance; time delay; time-varying loop gain; tracking; visual servoing; Cameras; Mechanical sensors; Orbital robotics; Robot kinematics; Robot sensing systems; Robot vision systems; Servomechanisms; Space technology; Vibrations; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.219960
Filename
219960
Link To Document