Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1999.07g
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- Pages.2995-2997
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- 1999
Control of Robot Manipulators Using LQG Visual Tracking Cotroller
LQG 시각추종제어기를 이용한 로봇매니퓰레이터의 제어
- Lim, Tai-Hun (Dept. of Electrical Engineering in Pusan National Univ.) ;
- Jun, Hyang-Sig (Dept. of Aerospace Division, Daewoo Heavy Industries Co.,Ltd) ;
- Choi, Young-Kiu (Dept. of Electrical Engineering in Pusan National Univ.) ;
- Kim, Sung-Shin (Dept. of Electrical Engineering in Pusan National Univ.)
- Published : 1999.07.19
Abstract
Recently, real-time visual tracking control for a robot manipulator is performed by using a vision feedback sensor information. In this paper, the optical flow is computed based on the eye-in-hand robot configuration. The image jacobian is employed to calculate the rotation and translation velocity of a 3D moving object. LQG visual controller generates the real-time visual trajectory. In order to improving the visual tracking performance. VSC controller is employed to control the robot manipulator. Simulation results show a better visual tracking performance than other method.
Keywords