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
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;
Conference_Titel :
Industrial Electronics (ISIE), 2011 IEEE International Symposium on
Conference_Location :
Gdansk
Print_ISBN :
978-1-4244-9310-4
Electronic_ISBN :
Pending
DOI :
10.1109/ISIE.2011.5984289
