| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0411395 |
| utime |
20240111140636.5 |
| mtime |
20060210235959.9 |
| title
(primary) (eng) |
Visual servoing for an underactuated manipulator |
| publisher |
| place |
Prague |
| name |
IFAC |
| pub_time |
2005 |
|
| specification |
| page_count |
7 s. |
| media_type |
DVD-ROM |
|
| serial |
| title
|
Preprints of the 16th World Congress of the International Federation of Automatic Control |
| page_num |
1-6 |
| editor |
|
| editor |
|
| editor |
|
|
| title
(cze) |
Vizuelní servořízení pro manipulátor s neúplným počtem akčních prvků |
| keyword |
underactuated systems |
| keyword |
visual servoing |
| keyword |
nonlinear systems |
| keyword |
Pendubot |
| author
(primary) |
| ARLID |
cav_un_auth*0213227 |
| name1 |
Espejel-Rivera |
| name2 |
A. |
| country |
MX |
|
| author
|
| ARLID |
cav_un_auth*0213228 |
| name1 |
Ramos-Velasco |
| name2 |
L. E. |
| country |
MX |
|
| author
|
| ARLID |
cav_un_auth*0101074 |
| name1 |
Čelikovský |
| name2 |
Sergej |
| institution |
UTIA-B |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
|
| COSATI |
09I |
| cas_special |
| project |
| project_id |
1P05LA262 |
| agency |
GA MŠk |
| ARLID |
cav_un_auth*0213188 |
|
| research |
CEZ:AV0Z10750506 |
| abstract
(eng) |
This paper discusses the visual servo control of an underactuated mechanism under fixed-camera configuration. The control goal is to stabilize the system over a desired static target by using a vision system equipped with a fixed camera to observe the system and target. We present a control scheme based on the combination of a state observer and the visual feedback for an underactuated system,the so-called Pendubot, consisting in a double pendulum actuated only at the first joint. |
| abstract
(cze) |
V tomto článku je rozebrána regulace mechanizmu, který má méně akčních prvků, než stupňů volnosti, a to pomocí vizuelní zpětné vazby. Mechanizmus řídí orientaci kamery, která poskytuje vizuelní informaci. Vhodným dynamickým modelem pro tuto situaci je tzv. pendubot, řízený pomocí výstupní zpětné vazby. |
| action |
| ARLID |
cav_un_auth*0213202 |
| name |
IFAC World Congress /16./ |
| place |
Prague |
| country |
CZ |
| dates |
03.07.2005-08.07.2005 |
|
| RIV |
BC |
| reportyear |
2006 |
| department |
TŘ |
| permalink |
http://hdl.handle.net/11104/0131477 |
| ID_orig |
UTIA-B 20050125 |
| arlyear |
2005 |
| mrcbU10 |
2005 |
| mrcbU10 |
Prague IFAC |
| mrcbU56 |
256 kB |
| mrcbU63 |
Preprints of the 16th World Congress of the International Federation of Automatic Control 1 6 |
| mrcbU67 |
Horáček P. 340 |
| mrcbU67 |
Šimandl M. 340 |
| mrcbU67 |
Zítek P. 340 |
|