Dynamic effects in visual closed-loop systems

被引:146
作者
Corke, PI [1 ]
Good, MC [1 ]
机构
[1] UNIV MELBOURNE, DEPT MECH & MFG ENGN, PARKVILLE, VIC 3052, AUSTRALIA
来源
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1996年 / 12卷 / 05期
关键词
robot control; visual servoing; feedforward control;
D O I
10.1109/70.538973
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 [计算机科学与技术];
摘要
In this paper we argue that the focus of much of the visual servoing literature has been on the kinematics of visual control and has ignored a number of fundamental and significant dynamic control issues. To this end the concept of visual dynamic control is introduced which is concerned with dynamic effects due to the manipulator and machine vision sensor which limit performance, These must be explicitly addressed in order to achieve high-performance control, The paper uses simulation and experiment to investigate feedback control issues such as choice of compensator, and the use of axis position, velocity or torque controlled inner-loops within the visual servo system, The limitations of visual feedback control lead to the investigation of target velocity feedforward control, which combined with axis velocity control, is shown to result in robust and high performance tracking.
引用
收藏
页码:671 / 683
页数:13
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