Title :
Optimal control law of robot based on delta operator in visual servoing
Author :
Li, Hui-guang ; Zhu, Xu-Dong ; Wang, Ping-Shun
Author_Institution :
Coll. of Electr. Eng., Yanshan Univ., China
Abstract :
We research visual servoing control problems of robotic real-time visual tracking of arbitrary 3-D objects traveling at unknown velocities by using a direct visual feedback with camera-in-hand configuration. By establishing models of mathematical formulation and visual servoing of the robotic system with visual feedback, we use delta operator to design optimal control law, and to analyze stability of the system.
Keywords :
control system synthesis; feedback; image motion analysis; optimal control; robot vision; stability; arbitrary 3D object; camera-in-hand configuration; delta operator; robot optimal control design; robotic real-time visual tracking; stability analysis; visual feedback; visual servoing control problem; Cameras; Feedback; Focusing; Mathematical model; Optimal control; Pixel; Robot control; Robot vision systems; Stability analysis; Visual servoing;
Conference_Titel :
Machine Learning and Cybernetics, 2004. Proceedings of 2004 International Conference on
Print_ISBN :
0-7803-8403-2
DOI :
10.1109/ICMLC.2004.1380749
