Prediction-Based Visual Servo Control
Michał Walęcki , Cezary Zieliński
AbstractIn 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.
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