INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
artículos
Título:
Passivity based visual servoing of mobile robots with dynamics compensation
Autor/es:
BEATRIZ MORALES; FLAVIO ROBERTI; JUAN MARCOS TOIBERO; RICARDO CARELLI
Revista:
MECHATRONICS
Editorial:
PERGAMON-ELSEVIER SCIENCE LTD
Referencias:
Lugar: Amsterdam; Año: 2012 vol. 22 p. 481 - 490
ISSN:
0957-4158
Resumen:
This paper presents an image-based dynamic visual servoing to make a mobile robot able to track a moving object on the workspace by using a calibrated on board vision system. The stability of the proposed system is proved based on its passivity properties. A robustness analysis and an L2-gain performance analysis are also presented. Experimental results are shown to illustrate the system performance.L2-gain performance analysis are also presented. Experimental results are shown to illustrate the system performance.
