AVOIDING VISUAL SERVOING SINGULARITIES USING A COOPERATIVE CONTROL ARCHITECTURE

N. García, C. Pérez, L. Payá, R. Ñeco, J. M. Sabater, J. M. Azorín

Abstract

To avoid the singularities of an image-based visual control of an industrial robot (Mitsubishi PA-10), a simple and efficient control law which combines the information of two cameras in a cooperative way has been developed and tested. One of this cameras is rigidly mounted on the robot end-effector (eye-in-hand configuration) and the other one observes the robot within its workspace (eye-to-hand configuration). The system architecture proposed allows us to control the 6 dof of an industrial robot when typical problems of image-based visual control techniques are produced.

References

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Paper Citation


in Harvard Style

García N., Pérez C., Payá L., Ñeco R., Sabater J. and Azorín J. (2004). AVOIDING VISUAL SERVOING SINGULARITIES USING A COOPERATIVE CONTROL ARCHITECTURE . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 162-168. DOI: 10.5220/0001134201620168


in Bibtex Style

@conference{icinco04,
author={N. García and C. Pérez and L. Payá and R. Ñeco and J. M. Sabater and J. M. Azorín},
title={AVOIDING VISUAL SERVOING SINGULARITIES USING A COOPERATIVE CONTROL ARCHITECTURE},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={162-168},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001134201620168},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - AVOIDING VISUAL SERVOING SINGULARITIES USING A COOPERATIVE CONTROL ARCHITECTURE
SN - 972-8865-12-0
AU - García N.
AU - Pérez C.
AU - Payá L.
AU - Ñeco R.
AU - Sabater J.
AU - Azorín J.
PY - 2004
SP - 162
EP - 168
DO - 10.5220/0001134201620168