Dynamic Issues in Robot Visual-servo Systems
نویسنده
چکیده
This paper poses a number of questions related to the performance and structure of closed-loop visual control, or visual servo, systems. While the fundamentals of visual servo control are well known and systems have been demonstrated for many years, the achieved performance is far less than could be expected. In particular the questions discussed relate to fundamental control system structure, performance metrics, compensator design and the choice of feedback versus feedfor-ward control.
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