Download PDF by Rong-Fong Fung (editor): Visual Servoing

By Rong-Fong Fung (editor)

ISBN-10: 9533070951

ISBN-13: 9789533070957

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L. R. & Casanova Alcalde, V. H. (2006), Building Blocks for Simulation of Robotic Manipulators, Proceedings of the 13th IASTED International Conference on Robotics and Applications, pp. 408-413, ISBN 978-0-88986-685-0 , Würzburg, Germany, September, 2006. , L. R. & Casanova Alcalde, V. H. (2006), An Educational Robotic Workstation based on the Rhino XR4 Robot, Proceedings of the 36th ASEE/IEEE Frontiers in Education Conference, pp. 7-12, ISBN 1-4244-0257-3 , San Diego, CA, USA, October 28-31, 2006.

Dogleg, const and MJP model, trace of markings on sensor, poses 2 and 3 (real robot). Trust-region based controllers successfully overcome this limitation by adapting the dampening factor in situations where this is necessary, but only in those cases. Therefore they achieve both a better success rate and a significantly higher speed than traditional controllers. The Dogleg controller which was also tested does work well with some poses, but on average has much more convergence problems than the other two types of controllers.

Since the resulting cylindrical coordinate system approximates a Cartesian coordinate system as η, ξ → ∞, the standard Cartesian Image Jacobian Jn from (17) can therefore used if |lz | < δ for a given lower limit δ. g. linearisation, or the assumption that the camera works like a pinhole camera). The goal is to ensure a fast convergence of the controller in spite of these errors. 1 Trust Region-based Controllers Trust Region methods are known from mathematics as globally convergent optimisation methods (Fletcher, 1987).

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Visual Servoing by Rong-Fong Fung (editor)

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