Variable structure PID controller for cooperative eye-in-hand/eye-to-hand visual servoing

Author

Elena, Mainardi ; Cristiano, Mantovani ; Damiano, Fabbri ; Bonfe, Marcella

Author_Institution

Dept. of Eng., Ferrara Univ., Italy

Volume

2

fYear

2003

fDate

23-25 June 2003

Firstpage

989

Abstract

This paper presents an experiment on the use of a cooperative camera system for robotic tracking of an object moving on a plane. The image of the object is acquired from two cameras, the first one (camera in hand) mounted on the end-effector of a 6 DOF robot arm (Puma 260) and the second one fixed in a certain location (fixed camera). The images are processed by a frame grabber on a standard PC, and the controller has a variable structure, which is capable to change from a PID to PD and vice versa according to the dynamic of the target.

Keywords

controllers; dynamics; end effectors; robot vision; three-term control; tracking; variable structure systems; 6 DOF robot arm; PD controller; Puma 260; cooperative camera system; cooperative eye-in-hand/eye-to -hand visual servoing; end-effector; frame grabber; proportional derivative controller; proportional integral derivative controller; robotic tracking; target dynamics; variable structure PID controller; Cameras; Control systems; Layout; Manipulators; Orbital robotics; Robot vision systems; Service robots; Target tracking; Three-term control; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on

Print_ISBN

0-7803-7729-X

Type

conf

DOI

10.1109/CCA.2003.1223145

Filename

1223145