Control system of the active head of a service robot exemplified on visual servoing

Michał Walęcki , Maciej Stefańczyk , Tomasz Michał Kornuta

Abstract

The article presents approach to active head control system's development. It describes the system structure including motor drivers with low level position control, as well as high level control mechanisms running on a computer. The formal specification of this system is based on the agent approach. Finally, an exemplary implementation of the active head control system for visual servoing application is presented. Experiments conducted on the system confirm the adequacy of the approach.
Author Michał Walęcki (FEIT / AK)
Michał Walęcki,,
- The Institute of Control and Computation Engineering
, Maciej Stefańczyk (FEIT / AK)
Maciej Stefańczyk,,
- The Institute of Control and Computation Engineering
, Tomasz Michał Kornuta (FEIT / AK)
Tomasz Michał Kornuta,,
- The Institute of Control and Computation Engineering
Pages48-53
Publication size in sheets0.5
Book Kozłowski Krzysztof: Robot Motion and Control (RoMoCo), 9th Workshop on, 2013, IEEE, ISBN 978-1-4673-5510-0, 293 p.
DOIDOI:10.1109/RoMoCo.2013.6614583
URL http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6614583
Languageen angielski
File
Walecki i in 2013 -design of .pdf 1.99 MB
Score (nominal)15
Score sourceconferenceIndex
ScoreMinisterial score = 10.0, 04-02-2020, BookChapterMatConfByIndicator
Ministerial score (2013-2016) = 15.0, 04-02-2020, BookChapterMatConfByIndicator
Publication indicators WoS Citations = 1; Scopus Citations = 5; GS Citations = 8.0
Citation count*8 (2019-02-05)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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