Title :
Dynamic effects in high-performance visual servoing
Author :
Corke, Peter I. ; Good, Malcolm C.
Author_Institution :
CSIRO, Preston, WA, Australia
Abstract :
The authors discuss three dominant dynamic effects that are manifested in the use of robot end-mounted cameras for high-performance tracking and positioning tasks. They are time delay (or latency in the sensing and control blocks), time-varying loop gain due to perspective, and vibrations due to structural and drive compliance. Analysis of the dynamic is presented and compared with experimental results
Keywords :
computer vision; control system analysis; dynamics; robots; servomechanisms; drive compliance; dynamic effects; positioning; robot; structural compliance; time delay; time-varying loop gain; tracking; visual servoing; Cameras; Mechanical sensors; Orbital robotics; Robot kinematics; Robot sensing systems; Robot vision systems; Servomechanisms; Space technology; Vibrations; Visual servoing;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.219960
