Next Article in Journal
Contamination of Runoff Water at Gdańsk Airport (Poland) by Polycyclic Aromatic Hydrocarbons (PAHs) and Polychlorinated Biphenyls (PCBs)
Previous Article in Journal
Advances in SAW Gas Sensors Based on the Condensate-Adsorption Effect
Article

Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture

Edificio Quorum V, Miguel Hernandez University, Avda. de la Universidad S/N, 03202 Elche, Spain
*
Author to whom correspondence should be addressed.
Sensors 2011, 11(12), 11885-11900; https://doi.org/10.3390/s111211885
Received: 19 October 2011 / Revised: 13 December 2011 / Accepted: 15 December 2011 / Published: 20 December 2011
(This article belongs to the Section Physical Sensors)
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. View Full-Text
Keywords: image-based visual servoing; robotics; control image-based visual servoing; robotics; control
Show Figures

Graphical abstract

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. https://doi.org/10.3390/s111211885

AMA Style

Garcia-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. https://doi.org/10.3390/s111211885

Chicago/Turabian Style

Garcia-Aracil, Nicolas, Carlos Perez-Vidal, Jose Maria Sabater, Ricardo Morales, and Francisco J. Badesa 2011. "Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture" Sensors 11, no. 12: 11885-11900. https://doi.org/10.3390/s111211885

Find Other Styles

Article Access Map by Country/Region

1
Only visits after 24 November 2015 are recorded.
Back to TopTop