CiteULike
Facebook
Mendeley
Twitter
This article is- freely available
- re-usable
Sensors 2011, 11(12), 11885-11900; doi:10.3390/s111211885
Article
Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture
Nicolas Garcia-Aracil*
, Carlos Perez-Vidal, Jose Maria Sabater, Ricardo Morales and Francisco J. Badesa
, Carlos Perez-Vidal, Jose Maria Sabater, Ricardo Morales and Francisco J. Badesa
Edificio Quorum V, Miguel Hernandez University, Avda. de la Universidad S/N, 03202 Elche, Spain
* Author to whom correspondence should be addressed.
Received: 19 October 2011; in revised form: 13 December 2011 / Accepted: 15 December 2011 / Published: 20 December 2011
(This article belongs to the Section Physical Sensors)
Download PDF Full-Text [17483 KB, uploaded 20 December 2011 12:04 CET]
Abstract: The reliability and robustness of image-based visual servoing systems is still unsolved by the moment. In order to address this issue, a redundant and cooperative 2D visual servoing system based on the information provided by two cameras in eye-in-hand/eye-to-hand configurations is proposed. Its control law has been defined to assure that the whole system is stable if each subsystem is stable and to allow avoiding typical problems of image-based visual servoing systems like task singularities, features extraction errors, disappearance of image features, local minima, etc. Experimental results with an industrial robot manipulator based on Schunk modular motors to demonstrate the stability, performance and robustness of the proposed system are presented.
Keywords: image-based visual servoing; robotics; control
Article Statistics
Click here to load and display the download statistics.Cite This Article
MDPI and ACS Style
Garcia-Aracil, N.; Perez-Vidal, C.; Sabater, J.M.; Morales, R.; Badesa, F.J. Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture. Sensors 2011, 11, 11885-11900.
AMA StyleGarcia-Aracil N, Perez-Vidal C, Sabater JM, Morales R, Badesa FJ. Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture. Sensors. 2011; 11(12):11885-11900.
Chicago/Turabian StyleGarcia-Aracil, Nicolas; Perez-Vidal, Carlos; Sabater, Jose Maria; Morales, Ricardo; Badesa, Francisco J. 2011. "Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture." Sensors 11, no. 12: 11885-11900.