Multirate predictor control scheme for visual servo control

2002 ◽  
Vol 149 (2) ◽  
pp. 117-124 ◽  
Author(s):  
T.P. Sim ◽  
K.B. Lim ◽  
G.S. Hong
Keyword(s):  
Servo Control ◽  
Visual Servo ◽  
Visual Servo Control ◽  
Control Scheme

Exploiting Image Moments for Aerial Manipulation Control

2013 ◽  
Author(s):  
Rafik Mebarki ◽  
Vincenzo Lippiello ◽  
Bruno Siciliano
Keyword(s):  
Real Time ◽  
Computer Simulations ◽  
Visual Target ◽  
Servo Control ◽  
Visual Servo ◽  
3D Interaction ◽  
Visual Servo Control ◽  
Image Moments ◽  
Control Scheme ◽  
Rotary Wing

This paper proposes a new visual servo control scheme that endows flying manipulators with the capability of positioning with respect to visual targets. A camera attached to the UAV provides real-time images of the scene. We consider the approaching part of an aerial assembling task, where the manipulator carries a structure to be plugged into the visual target. In order to augment the system capabilities regarding the 3D interaction with the target, we propose to use image moments. The developed controller generates desired velocities to both the UAV and the manipulator, simultaneously. While taking into account the under-actuation specific to rotary-wing vehicles, it makes use of the system redundancy to realize potential sub-tasks. The joints limits avoidance is also guaranteed. The presented developments are validated by means of computer simulations.

Navigation Function Based Visual Servo Control

2004 ◽  
Author(s):  
J. Chen ◽  
D. M. Dason ◽  
W. E. Dixon ◽  
V. K. Chitrakaran
Keyword(s):  
Servo Control ◽  
Visual Servo ◽  
Visual Servo Control ◽  
Navigation Function
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