Abstract
Visual servoing methods are commonly classified as image based or position based, depending on whether image features or the robot pose is used in the feedback loop of the control law. Choosing one method over the other gives stability in the chosen state but surrenders all control over the other, which can lead to system failure if feature points are lost or the robot moves to the end of its reachable space. We present a hybrid switched system visual servo method that utilizes both image based and position based control laws. Through a switching scheme we present, this method will provide asymptotic stability in both the image and pose and prevent system failure.
| Original language | English (US) |
|---|---|
| Pages | 735-742 |
| Number of pages | 8 |
| State | Published - 2003 |
| Event | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: Oct 27 2003 → Oct 31 2003 |
Other
| Other | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Country/Territory | United States |
| City | Las Vegas, NV |
| Period | 10/27/03 → 10/31/03 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications