A VISUAL SERVOING ARCHITECTURE USING PREDICTIVE CONTROL FOR A PUMA560 ROBOT

Paulo Ferreira, João C. Pinto

2004

Abstract

A control system for a six degrees freedom Puma robot using a Visual Servoing architecture is presented. Two different predictive controllers, GPC and MPC, are used. A comparison between these two ones and the classical PI controller is performed. In this system the camera is placed on the robot’s end-effector and the goal is to control the robot pose to follow a target. A control law based on features extracted from camera images is used. Simulation results show that the strategy works well and that visual servoing predictive control is faster than a PI control.

Paper Citation

in Harvard Style

Ferreira P. and C. Pinto J. (2004). A VISUAL SERVOING ARCHITECTURE USING PREDICTIVE CONTROL FOR A PUMA560 ROBOT . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 475-478. DOI: 10.5220/0001147204750478

in Bibtex Style

@conference{icinco04,
author={Paulo Ferreira and João C. Pinto},
title={A VISUAL SERVOING ARCHITECTURE USING PREDICTIVE CONTROL FOR A PUMA560 ROBOT},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={475-478},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001147204750478},
isbn={972-8865-12-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A VISUAL SERVOING ARCHITECTURE USING PREDICTIVE CONTROL FOR A PUMA560 ROBOT
SN - 972-8865-12-0
AU - Ferreira P.
AU - C. Pinto J.
PY - 2004
SP - 475
EP - 478
DO - 10.5220/0001147204750478