| ID | 30106 |
| フルテキストURL | |
| 著者 |
Hashimoto, Koichi
Okayama University
Ebine, Takumi
The Defence Agency
Kimura, Hidenori
University of Tokyo
|
| 抄録 | This paper proposes a control theoretic formulation and a controller design method for the feature-based visual servoing with redundant features. The linear time-invariant (LTI) formulation copes with the redundant features and provides a simple framework for controller design. The proposed linear quadratic (LQ) method can deal with the redundant features, which is important because the previous LQ methods are not applicable to redundant systems. Moreover, this LQ method gives flexibility for performance improvement instead of the very limited design parameters provided by the generalized inverse and task function controllers. Validity of the LTI model and effectiveness and flexibility of the LQ optimal controller are evaluated by real-time experiments on a PUMA 560 manipulator |
| キーワード | control system synthesis
linear quadratic control
manipulators
redundancy
robot vision
|
| 備考 | Digital Object Identifier: 10.1109/70.538981
Published with permission from the copyright holder. This is the institute's copy, as published in Robotics and Automation, IEEE Transactions on, Oct. 1996, Vol. 12, Issue 5, Pages 766-774. Publisher URL:http://dx.doi.org/10.1109/70.538981 Copyright © 1996 IEEE. All rights reserved. |
| 発行日 | 1996-10
|
| 出版物タイトル |
Robotics and Automation
|
| 巻 | 12巻
|
| 号 | 5号
|
| 開始ページ | 766
|
| 終了ページ | 774
|
| 資料タイプ |
学術雑誌論文
|
| 言語 |
英語
|
| 査読 |
有り
|
| DOI | |
| Submission Path | industrial_engineering/99
|
