An Asymptotically Stable Switched System Visual Controller for Eye in Hand Robots

Nicholas R. Gans, Seth A. Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages735-742
Number of pages8
Volume1
StatePublished - 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period10/27/0310/31/03

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'An Asymptotically Stable Switched System Visual Controller for Eye in Hand Robots'. Together they form a unique fingerprint.

  • Cite this

    Gans, N. R., & Hutchinson, S. A. (2003). An Asymptotically Stable Switched System Visual Controller for Eye in Hand Robots. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 735-742)