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Title of Journal: J Intell Manuf

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Abbravation: Journal of Intelligent Manufacturing

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Springer US

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DOI

10.1007/s002080100253

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ISSN

1572-8145

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Predictive control architecture for realtime imag

Authors: Adrian Burlacu Cosmin Copot Corneliu Lazar
Publish Date: 2013/03/12
Volume: 25, Issue: 5, Pages: 1125-1134
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Abstract

This paper presents a realtime architecture for visual servoing of robot manipulators using nonlinear based predictive control In order to increase the robustness of the control algorithm image moments were chosen to be the visual features which describe the objects from the image A visual predictive architecture is designed to solve tasks addressed to robot manipulators with an eyeinhand configuration An implementation of the proposed architecture is done so that the capabilities of a 6 dof robot manipulator are extended The results of different experiments conducted with two types of image moments based controllers proportional and predictive with reference trajectory are presented and discussed

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