Design of a Partitioned Visual Feedback Controller

Image-based servozng systems are often used to track moving targets and their underlying control architecture is a regulation of the image. This regulation is a function of rigid camera-to-target geometric constraints. Satisfying such constraints requires that the robot motors have suficient velocity bandwidths, and oflen these bandwidths are limited. This paper lays down the foundation for a partitioned controller. Such a controller would coordinate a camera's DOF into a synergistic move to overcome bandwidth limitations. Tracking experiments are shown on a custom designed 5 DOF gantry robot which highlight the limitations of regulator-based control, as well as show how partitioning can be used to achieve more robust control.

• Type: Conference
• Year: 1998
• Where: ICRA
• Authors: Paul Y. Oh, Peter K. Allen
• Keywords: Camera-to-target Geometric Constraints, DOF Gantry Robot, ICRA 1998, Robotics, Suficient Velocity Bandwidths