Visual Servoing with Linearized Observer
نویسندگان
چکیده
One of the most important problem in feature-based visual servoing is the slow sampling rate and the delay of the camera that can make the closed loop system oscillative or unstable easily. In this paper, a linearized observer that estimates the object velocity and updates the visual information with the joint sampling rate is proposed. Stability of the observer-based control system and effectiveness of the observer are verified by experiments on a PUMA 560 robot.
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