Title :
H∞ controller for a visual servoing system
Author :
Ortega, M.G. ; Vargas, M. ; Rubio, F.R.
Author_Institution :
Dipt. Ing. de Sist. y Autom., Univ. de Sevilla, Sevilla, Spain
fDate :
Aug. 31 1999-Sept. 3 1999
Abstract :
In this paper, the model for a one-dimensional visual servoing system implemented in our laboratory is initially presented. The system setup is composed by a PUMA robot manipulator, a CCD camera rigidly mounted on the end-effector of the robot, and some image processing hardware. The aim of the system is to keep a desired relative position between the object and the camera, handling the autonomous object motion as a disturbance input to the model. An H∞ controller is then proposed in order to minimize the effects of this arbitrary object displacements. The principles used in the design of this controller and its performance are finally presented.
Keywords :
CCD image sensors; H∞ control; control system synthesis; end effectors; image motion analysis; robot vision; visual servoing; CCD camera; H∞ controller design; PUMA robot manipulator; arbitrary object displacement; autonomous object motion; end-effector; image processing hardware; one-dimensional visual servoing system; Cameras; Robot kinematics; Transfer functions; Visual servoing; Visualization; Image processing; Robotics; Robust control; Visual servoing;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
