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Visual Servoing for an Underactuated Manipulator
| Content Provider | Semantic Scholar |
|---|---|
| Author | Espejel-Rivera, A. Ramos-Velasco, Luis Enrique Celikovský, Sergej |
| Copyright Year | 2005 |
| Abstract | This paper discusses the visual servo control of an underactuated mechanism under fixed-camera configuration. The control goal is to stabilize the system over a desired static target by using a vision system equipped with a fixed camera to observe the system and target. We present a control scheme based on the combination of a state observer and the visual feedback for an underactuated system, the so-called Pendubot, consisting in a double pendulum actuated only at the first joint. The paper ends with the presentation of several simulation results and some guidelines for future work are drawn in the conclusion.Copyright c ©2005 IFAC |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2005/Fullpapers/03411.pdf |
| Alternate Webpage(s) | http://folk.ntnu.no/skoge/prost/proceedings/ifac2005/Fullpapers/03411.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |