DocumentCode
423919
Title
Optimal control law of robot based on delta operator in visual servoing
Author
Li, Hui-guang ; Zhu, Xu-Dong ; Wang, Ping-Shun
Author_Institution
Coll. of Electr. Eng., Yanshan Univ., China
Volume
1
fYear
2004
fDate
26-29 Aug. 2004
Firstpage
533
Abstract
We research visual servoing control problems of robotic real-time visual tracking of arbitrary 3-D objects traveling at unknown velocities by using a direct visual feedback with camera-in-hand configuration. By establishing models of mathematical formulation and visual servoing of the robotic system with visual feedback, we use delta operator to design optimal control law, and to analyze stability of the system.
Keywords
control system synthesis; feedback; image motion analysis; optimal control; robot vision; stability; arbitrary 3D object; camera-in-hand configuration; delta operator; robot optimal control design; robotic real-time visual tracking; stability analysis; visual feedback; visual servoing control problem; Cameras; Feedback; Focusing; Mathematical model; Optimal control; Pixel; Robot control; Robot vision systems; Stability analysis; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Machine Learning and Cybernetics, 2004. Proceedings of 2004 International Conference on
Print_ISBN
0-7803-8403-2
Type
conf
DOI
10.1109/ICMLC.2004.1380749
Filename
1380749
Link To Document