Prediction-Based Visual Servo Control

Michał Walęcki , Cezary Zieliński

Abstract

In service robotics manipulator trajectories must be generated on the run, basing on the information gathered by sensors. This article discusses visual servoing applied to robot arm control, in a task of following a moving object with robot arm. The paper proposes a control system structure based on adaptive Kalman filter prediction algorithm and manipulator joint trajectory generator. Moreover, it shows how to build it using agent-based approach.
Author Michał Walęcki IAiIS
Michał Walęcki,,
- The Institute of Control and Computation Engineering
, Cezary Zieliński IAiIS
Cezary Zieliński,,
- The Institute of Control and Computation Engineering
Pages693-704
Publication size in sheets0.55
Book Szewczyk Roman, Kaliczyńska Małgorzata, Zieliński Cezary: Challenges in Automation, Robotics and Measurement Techniques. Proceedings of AUTOMATION-2016, March 2-4, 2016, Warsaw, Poland, Advances in Intelligent Systems and Computing, vol. 440, 2016, Springer International Publishing, ISBN 978-3-319-29356-1, [978-3-319-29357-8], 919 p., DOI:10.1007/978-3-319-29357-8
Keywords in EnglishRobot object motion tracking Robot visual servo control Robot trajectory generation
DOIDOI:10.1007/978-3-319-29357-8_60
URL http://link.springer.com/chapter/10.1007/978-3-319-29357-8_60
projectRobREx: Autonomy for rescue and exploration robots. Project leader: Zieliński Cezary, , Phone: 5102, start date 12-12-2012, end date 30-11-2015, 513/1031, Completed
WEiTI Projects financed by NCRD [Projekty finansowane przez NCBiR (NCBR)]
Languageen angielski
File
Walecki Zielinski automation_2016.pdf (file archived - login or check accessibility on faculty) Walecki Zielinski automation_2016.pdf 521.04 KB
Score (nominal)15
ScoreMinisterial score = 15.0, 27-03-2017, BookChapterSeriesAndMatConf
Ministerial score (2013-2016) = 15.0, 27-03-2017, BookChapterSeriesAndMatConf
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