DocumentCode :
1199507
Title :
Robust visual servoing: bounding the task function tracking errors
Author :
Morel, Guillaume ; Zanne, Philippe ; Plestan, Franck
Author_Institution :
Univ. of Paris VI, France
Volume :
13
Issue :
6
fYear :
2005
Firstpage :
998
Lastpage :
1009
Abstract :
This article deals with the well known problem of robust visual servoing (VS), which is formulated by the use of the general task function approach. Robustness is provided with respect to calibration parametric errors not only in terms of stability, but also in terms of tracking errors boundness. As a result, the proposed approach allows the user to choose a bound on the tracking error so as to guarantee the visibility of the target during the task execution. Most importantly, the error boundness is obtained while avoiding the use of large gains. Rather, one uses bounded gains, together with the modulation of the desired velocity along the desired path. An application of this general approach is developed and experimentally validated.
Keywords :
calibration; robots; servomechanisms; stability; tracking; calibration parametric error robustness; robust visual servoing; stability; task function tracking error bounding; Calibration; Cameras; Position measurement; Robot vision systems; Robust control; Robust stability; Robustness; Target tracking; Uncertainty; Visual servoing; Error boundness; parametric uncertainties; robustness; visibility; visual servoing (VS);
fLanguage :
English
Journal_Title :
Control Systems Technology, IEEE Transactions on
Publisher :
ieee
ISSN :
1063-6536
Type :
jour
DOI :
10.1109/TCST.2005.857409
Filename :
1522239
Link To Document :
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