Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm
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Date
2013-11
Authors
Benbelkacem, Yacine
Journal Title
Journal ISSN
Volume Title
Publisher
Universiti Sains Malaysia
Abstract
In industrial robotics, grasping an object is required to happen fast since the position and
orientation of such an object is a-priori known. However, if such information about the
position and orientation is unavailable and objects are spread randomly on a conveyor,
it may be challenging to keep the dexterity and speed at which the task is carried out.
Nowadays, the use of vision sensors to compute the position and orientation of an object
and to reposition the robotic system is being used accordingly. This technology has
indirectly introduced a disparity in time that varies according to the nature of the control
technique.
Description
Keywords
Visual Servo Control , Robotic Arm