Avoiding Visual Servoing Singularities Using a Cooperative Control Architecture
نویسندگان
چکیده
Abstract: To avoid the singularities of an image-based visual control of an industrial robot (Mitsubishi PA-10), a simple and efficient control law which combines the information of two cameras in a cooperative way has been developed and tested. One of this cameras is rigidly mounted on the robot end-effector (eye-in-hand configuration) and the other one observes the robot within its workspace (eye-to-hand configuration). The system architecture proposed allows us to control the 6 dof of an industrial robot when typical problems of image-based visual control techniques are produced.
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