Vision servoing of robot systems using piecewise continuous controllers and observers

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• 作者：H.P. Wang ; C. Vasseur ; N. Christov ; V. Koncar
• 关键词：Visual servoing control ; Piecewise continuous controllers and observers
• 刊名：Mechanical Systems and Signal Processing
• 出版年：2012
• 出版时间：November, 2012
• 年：2012
• 卷：33
• 期：Complete
• 页码：132-141
• 全文大小：917 K

文摘

This paper deals with the visual servoing of X-Y robot systems using low cost CCD camera. The proposed approach is based on the theory of piecewise continuous systems which are a particular class of hybrid systems with autonomous switching and controlled impulses. Visual trajectory tracking systems comprising piecewise continuous controllers and observers, are developed. Real-time results are given to illustrate the effectiveness of the proposed visual control system.