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Kinematic and dynamic 2D visual servoing
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Autores
Orientador(es)
Resumo(s)
In this paper a comparison of kinematic and dynamic image-based (2D) visual servoing is accomplished. This comparison is based on a 2 dof planar robot manipulator constructed at Instituto Superior Técnico, and the simulation results are obtained using a Matlab 6.0 Simulink model under regulator control. For kinematic visual servoing, a control scheme with exponential decay is derived. For dynamic visual servoing, PD and inverse dynamics control were used. Finally, comparison results are presented.
Descrição
Palavras-chave
Visual servoing Machine vision Robotic manipulator Robot control
Contexto Educativo
Citação
GONÇALVES, P.J.S. (2001) - Kinematic and dynamic 2D visual servoing. In Student Forum of European Control Conference, Porto, setembro. [S. l.: s.n]. p. 1-4