Abstract
This paper discusses some important control design issues for robot visual servoing, in particular high-performance tracking. The limitations of pure visual feedback control are discussed, and an approach based on axis velocity control and estimated target velocity feedforward is proposed. Experimental results are obtained with a 50Hz low-latency vision system and an end-effector mounted camera to close the robots position loop.
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© 1994 Springer-Verlag London Limited
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Corke, P.I. (1994). Experiments in high-performance robotic visual servoing. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027595
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DOI: https://doi.org/10.1007/BFb0027595
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-19905-2
Online ISBN: 978-3-540-39355-9
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