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Title of Journal: Int J Precis Eng Manuf

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Abbravation: International Journal of Precision Engineering and Manufacturing

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Korean Society for Precision Engineering

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DOI

10.1007/s11182-012-9709-5

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ISSN

2005-4602

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Direct visual servoing framework based on optimal

Authors: Jorge Pomares Carlos Alberto Jara Javier Pérez Fernando Torres
Publish Date: 2015/02/06
Volume: 16, Issue: 2, Pages: 267-274
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Abstract

This paper presents a new framework based on optimal control to define new dynamic visual controllers to carry out the guidance of any serial link structure The proposed general method employs optimal control to obtain the desired behaviour in the joint space based on an indicated cost function which determines how the control effort is distributed over the joints The proposed approach allows the development of new direct visual controllers for any mechanical joint system with redundancy Finally authors show experimental results and verifications on a real robotic system for some derived controllers obtained from the control framework

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