| Full text | |
| Author(s): Show less - |
Silveira, Gerald
;
Mirisola, Luiz
;
IEEE
;
Howard, A
;
Althoefer, K
;
Arai, F
;
Arrichiello, F
;
Caputo, B
;
Castellanos, J
;
Hauser, K
;
Isler, V
;
Kim, J
;
Liu, H
;
Oh, P
;
Santos, V
;
Scaramuzza, D
;
Ude, A
;
Voyles, R
;
Yamane, K
;
Okamura, A
Total Authors: 20
|
| Document type: | Journal article |
| Source: | 2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA); v. N/A, p. 6-pg., 2019-01-01. |
| Abstract | |
This paper addresses the problem of vision-based robot control where a reference image defines the equilibrium. Specifically, we consider the class of intensity-based nonmetric solutions, which provide for high accuracy, versatility, and robustness. Existing techniques within that class present either a fully coupled control error dynamics or at best only achieve decoupling of the translational part, i.e., they can only obtain a lower triangular system. These couplings in the system dynamics increase analysis complexity and may degrade system performance. This work proposes a new nonlinear observer for also decoupling the rotational part, i.e., for diagonally decoupling the entire control error dynamics. Theoretical proofs of stability and of those decoupling properties are provided. Improved performances are also experimentally confirmed using synthetic and real data, planar and nonplanar objects, simulating and applying a camera-mounted 6-DoF robotic arm. (AU) | |
| FAPESP's process: | 17/22603-0 - Robust Unified Optimal Monocular Tracking and Servoing: New Techniques and Applications to Autonomous Systems |
| Grantee: | Geraldo Figueiredo da Silveira Filho |
| Support Opportunities: | Scholarships abroad - Research |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |