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A Modular Scheme for Controller Design and Performance Evaluation in 3D Visual Servoing

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Abstract

In this paper we present a modular scheme for designing and evaluating different control systems for position based dynamic look and move visual servoing systems. This scheme is particularly applied to a 6 DOF industrial manipulator equipped with a camera mounted on its end effector. The manipulator with its actuators and its current feedback loops can be modeled as a Cartesian device commanded through a serial line. In this case the manipulator can be considered as a decoupled system with 6 independent loops. The use of computer vision as feedback transducer strongly affects the closed loop dynamics of the overall system, so that a visual controller is required for achieving fast response and high control accuracy. Due to the long delay in generating the control signal, it is necessary to carefully select the visual controller. In this paper we present a framework that allows the study of some conventional and new techniques to design this visual controller. Besides an experimental setup has been built and used to evaluate and compare the performance of the position based dynamic look and move system with different controllers. Some criterions for selecting the best strategy for each task are established. Quite a lot of results relative to different trajectory tracking control strategies are presented, showing both simulation and real platform responses.

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Authors and Affiliations

  1. Facultad de Ciencias, UNED, Spain

    M. Bachiller

  2. Escuela Técnica Superior de Informática, UNED, Spain

    J. A. Cerrada & C. Cerrada

Authors
  1. M. Bachiller
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  2. J. A. Cerrada
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  3. C. Cerrada
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Bachiller, M., Cerrada, J.A. & Cerrada, C. A Modular Scheme for Controller Design and Performance Evaluation in 3D Visual Servoing. Journal of Intelligent and Robotic Systems 36, 235–264 (2003). https://doi.org/10.1023/A:1023096511738

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