Direct Visual Servoing Framework based on Optimal Control for Redundant Joint Structures

Please use this identifier to cite or link to this item: http://hdl.handle.net/10045/44614
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Title: Direct Visual Servoing Framework based on Optimal Control for Redundant Joint Structures
Authors: Pomares, Jorge | Jara, Carlos A. | Pérez Alepuz, Javier | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Visual servoing | Control framework | Chaos control | Robotics
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: Feb-2015
Publisher: Korean Society for Precision Engineering | Springer
Citation: International Journal of Precision Engineering and Manufacturing. 2015, 16(2): 267-274. doi:10.1007/s12541-015-0035-z
Abstract: This paper presents a new framework based on optimal control to define new dynamic visual controllers to carry out the guidance of any serial link structure. The proposed general method employs optimal control to obtain the desired behaviour in the joint space based on an indicated cost function which determines how the control effort is distributed over the joints. The proposed approach allows the development of new direct visual controllers for any mechanical joint system with redundancy. Finally, authors show experimental results and verifications on a real robotic system for some derived controllers obtained from the control framework.
Sponsor: This work was funded by the Spanish Ministry of Economy, the European FEDER funds and the Valencia Regional Government, through the research projects DPI2012-32390 and PROMETEO/2013/085.
URI: http://hdl.handle.net/10045/44614
ISSN: 2234-7593 (Print) | 2005-4602 (Online)
DOI: 10.1007/s12541-015-0035-z
Language: eng
Type: info:eu-repo/semantics/article
Rights: © KSPE and Springer 2015. The final publication is available at Springer via http://dx.doi.org/10.1007/s12541-015-0035-z
Peer Review: si
Publisher version: http://dx.doi.org/10.1007/s12541-015-0035-z
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