Title :
Robot visual servo control based on switching approach
Author :
Zong, Xiao-ping ; Huai, Xiao-li ; Wang, Pei-Guang ; Hao, Lei
Author_Institution :
Coll. of Electron. & Informational Eng., Hebei Univ., Baoding
Abstract :
According to the theory of hybrid dynamic system, a new method-switching approach, is applied to robot visual servo system. Two visual servo sub-controllers are introduced in detail, homography-based controller and affine approximation controller. The system switches between the two controllers according to a switching rule. The experiment result shows that this system works well, and can realize visual servo task exactly.
Keywords :
approximation theory; robot dynamics; robot vision; time-varying systems; visual servoing; affine approximation controller; homography-based controller; hybrid dynamic system; robot visual servo control; switching approach; Cameras; Cybernetics; Intelligent robots; Jacobian matrices; Machine learning; Matrix decomposition; Robot kinematics; Robot vision systems; Servomechanisms; Servosystems; Affine transformation; Homography matrix; Switching control; Visual servo;
Conference_Titel :
Machine Learning and Cybernetics, 2008 International Conference on
Conference_Location :
Kunming
Print_ISBN :
978-1-4244-2095-7
Electronic_ISBN :
978-1-4244-2096-4
DOI :
10.1109/ICMLC.2008.4620753
