DocumentCode
2761068
Title
Visual predictive control architecture based on image moments for manipulator robots
Author
Copot, Cosmin ; Burlacu, Adrian ; Lazar, Corneliu
Author_Institution
Dept. of Autom. Control & Appl. Inf., Tech. Univ. Gheorghe Asachi of Iasi, Iasi, Romania
fYear
2011
fDate
27-30 June 2011
Firstpage
963
Lastpage
968
Abstract
Increasing performances of nonlinear predictive control techniques for visual servoing systems, by using image moments as visual features, is the main goal of this paper. An local model based predictor is developed and the cost function is constructed using a image moments based reference trajectory. A new type of visual predictive control architecture is designed and a simulator is developed. Simulation results for a 6 d.o.f eye-in-hand scheme are revealed.
Keywords
end effectors; nonlinear control systems; predictive control; visual servoing; 6 d.o.f eye-in-hand scheme; cost function; image moments based reference trajectory; local model based predictor; manipulator robots; nonlinear predictive control techniques; visual predictive control architecture; visual servoing systems; Cameras; Frequency modulation; Predictive control; Predictive models; Robots; Trajectory; Visualization;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics (ISIE), 2011 IEEE International Symposium on
Conference_Location
Gdansk
ISSN
Pending
Print_ISBN
978-1-4244-9310-4
Electronic_ISBN
Pending
Type
conf
DOI
10.1109/ISIE.2011.5984289
Filename
5984289
Link To Document