Performance of a Partitioned Visual Feedback Controller

We present a novel approach we call partitioning where the robot's degrees- of-freedom (D OF) are categorized into two classes based on joint kinematics and dynamics to design a coupled multi-input control system. We use image data to visually servo the first class of joints that have quick response time. Positionbased data is used to lcinematically servo the second class of joints that have large kinematic range. The net effect is an active-vision system that synergistically tracks a diverse range of targets (without using CAD-based models) over a wide bandwidth of motion dynamics.

• Type: Conference
• Year: 1999
• Where: ICRA
• Authors: Paul Y. Oh, Peter K. Allen
• Keywords: ICRA 1999, Joints, Multi-input Control System, Quick Response Time, Robotics