Pomares, Jorge, Jara, Carlos A., Pérez Alepuz, Javier, Torres, Fernando
Direct Visual Servoing Framework based on Optimal Control for Redundant Joint Structures
International Journal of Precision Engineering and Manufacturing. 2015, 16(2): 267-274. doi:10.1007/s12541-015-0035-z
URI: http://hdl.handle.net/10045/44614
DOI: 10.1007/s12541-015-0035-z
ISSN: 2234-7593 (Print)
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.
Keywords:Visual servoing, Control framework, Chaos control, Robotics
Korean Society for Precision Engineering
info:eu-repo/semantics/article