INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Control servovisual de un manipuladore industrial con una cámara fija
Autor/es:
RENATO DÁMASO; RICARDO CARELLI; MARIO SARCINELLI FILHO; TEODIANO FREIRE BASTOS
Lugar:
San Nicolás
Reunión:
Simposio; Reunión de Procesamiento de la Información y Control, RPIC´03; 2003
Institución organizadora:
UTN - San Nicolás
Resumen:
In this article, strategies on visual servoing control are presented for the robot positioning in relation to a static object, and for object following in a dynamic environment. The proposed control is based on the image obtained by a fixed camera observing the scene. The control law is of the inverse Jacobian type, and it seeks to minimize the errors of image characteristics on the image space. A control system stability proof is included. Experimental results are presented.
