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Authors: N. García ; C. Pérez ; L. Payá ; R. Ñeco ; J. M. Sabater and J. M. Azorín

Affiliation: Universidad Miguel Hernández, Spain

Keyword(s): Visual servoing, control, sensors, computer vision, robotics.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Transportation Technologies and Systems ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: To avoid the singularities of an image-based visual control of an industrial robot (Mitsubishi PA-10), a simple and efficient control law which combines the information of two cameras in a cooperative way has been developed and tested. One of this cameras is rigidly mounted on the robot end-effector (eye-in-hand configuration) and the other one observes the robot within its workspace (eye-to-hand configuration). The system architecture proposed allows us to control the 6 dof of an industrial robot when typical problems of image-based visual control techniques are produced.

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Paper citation in several formats:
García, N.; Pérez, C.; Payá, L.; Ñeco, R.; Sabater, J. and Azorín, J. (2004). AVOIDING VISUAL SERVOING SINGULARITIES USING A COOPERATIVE CONTROL ARCHITECTURE. In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 972-8865-12-0; ISSN 2184-2809, SciTePress, pages 162-168. DOI: 10.5220/0001134201620168

@conference{icinco04,
author={N. García. and C. Pérez. and L. Payá. and R. Ñeco. and J. M. Sabater. and J. M. Azorín.},
title={AVOIDING VISUAL SERVOING SINGULARITIES USING A COOPERATIVE CONTROL ARCHITECTURE},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2004},
pages={162-168},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001134201620168},
isbn={972-8865-12-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - AVOIDING VISUAL SERVOING SINGULARITIES USING A COOPERATIVE CONTROL ARCHITECTURE
SN - 972-8865-12-0
IS - 2184-2809
AU - García, N.
AU - Pérez, C.
AU - Payá, L.
AU - Ñeco, R.
AU - Sabater, J.
AU - Azorín, J.
PY - 2004
SP - 162
EP - 168
DO - 10.5220/0001134201620168
PB - SciTePress

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