Kinematic and dynamic 2D visual servoing

Gonçalves, Paulo

Publication

Kinematic and dynamic 2D visual servoing

2001Conference object

dc.contributor.author	Gonçalves, Paulo
dc.date.accessioned	2015-09-29T13:51:13Z
dc.date.available	2015-09-29T13:51:13Z
dc.date.issued	2001
dc.description.abstract	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.	pt_PT
dc.identifier.citation	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	pt_PT
dc.identifier.uri	http://hdl.handle.net/10400.11/2981
dc.language.iso	eng	pt_PT
dc.peerreviewed	no	pt_PT
dc.rights.uri	http://creativecommons.org/licenses/by-nc/4.0/	pt_PT
dc.subject	Visual servoing	pt_PT
dc.subject	Machine vision	pt_PT
dc.subject	Robotic manipulator	pt_PT
dc.subject	Robot control	pt_PT
dc.title	Kinematic and dynamic 2D visual servoing	pt_PT
dc.type	conference object
dspace.entity.type	Publication
oaire.citation.conferencePlace	Porto	pt_PT
oaire.citation.title	Student Forum of European Control Conference	pt_PT
person.familyName	Gonçalves
person.givenName	Paulo
person.identifier.ciencia-id	2816-A2FA-C5A3
person.identifier.orcid	0000-0002-8692-7338
person.identifier.rid	E-5640-2012
person.identifier.scopus-author-id	35853838000
rcaap.rights	openAccess	pt_PT
rcaap.type	conferenceObject	pt_PT
relation.isAuthorOfPublication	86a6a234-d690-4c2b-8bee-d58005eebba2
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