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Dynamic sensor-based control of robots with visual feedback
Abstract
Sensor-based robot control may be viewed as a hierarchical structure with multiple observers. Actuator, feature-based, and recognition observers provide the basis for multilevel feedback control at the actuator, sensor, and world coordinate frame levels, respectively. The analysis and design of feature-based control strategies to achieve consistent dynamic performance is addressed. For vision sensors, such an image-based visual servo control is shown to provide stable and consistent dynamic control within local regimes of the recognition observer. Simulation studies of two- and three-degree-of-freedom systems show the application of an adaptive control algorithm to overcome unknown and nonlinear relations in the feature to world space mapping.
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Citations
Cited by
A New Approach to Visual Servoing in Robotics
Espiau, B., Chaumette, F., & Rives, P. (1992) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.143350 · Cited by 1,384
Real-time visual tracking of complex structures
Drummond, T., & Cipolla, R. (2002) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2002.1017620 · Cited by 598
Malis, E., & Chaumette, F. (2000) · International Journal of Computer Vision · doi:10.1023/a:1008181530296 · Cited by 273
Metadata
- Authors
- Weiss, L., Sanderson, A., & Neuman, C.
- Venue
- IEEE Journal on Robotics and Automation
- Published
- 1987-10
- Volume
- 3
- Issue
- 5
- Pages
- 404-417
- ISSN
- 0882-4967 (ISSN-L)
- OpenAlex
- W1994732751
- Cited by
- 830
- References
- 0
- FWCI
- 8.40
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Dynamic sensor-based control of robots with visual feedback. https://app.cochat.ai/papers/10.1109/jra.1987.1087115
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- Weiss, L., Sanderson, A., & Neuman, C. (1987). Dynamic sensor-based control of robots with visual feedback. IEEE Journal on Robotics and Automation. https://doi.org/10.1109/jra.1987.1087115
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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