DocumentCode
476148
Title
Robot visual servo control based on switching approach
Author
Zong, Xiao-ping ; Huai, Xiao-li ; Wang, Pei-Guang ; Hao, Lei
Author_Institution
Coll. of Electron. & Informational Eng., Hebei Univ., Baoding
Volume
4
fYear
2008
fDate
12-15 July 2008
Firstpage
2104
Lastpage
2108
Abstract
According to the theory of hybrid dynamic system, a new method-switching approach, is applied to robot visual servo system. Two visual servo sub-controllers are introduced in detail, homography-based controller and affine approximation controller. The system switches between the two controllers according to a switching rule. The experiment result shows that this system works well, and can realize visual servo task exactly.
Keywords
approximation theory; robot dynamics; robot vision; time-varying systems; visual servoing; affine approximation controller; homography-based controller; hybrid dynamic system; robot visual servo control; switching approach; Cameras; Cybernetics; Intelligent robots; Jacobian matrices; Machine learning; Matrix decomposition; Robot kinematics; Robot vision systems; Servomechanisms; Servosystems; Affine transformation; Homography matrix; Switching control; Visual servo;
fLanguage
English
Publisher
ieee
Conference_Titel
Machine Learning and Cybernetics, 2008 International Conference on
Conference_Location
Kunming
Print_ISBN
978-1-4244-2095-7
Electronic_ISBN
978-1-4244-2096-4
Type
conf
DOI
10.1109/ICMLC.2008.4620753
Filename
4620753
Link To Document