A VISUAL SERVOING ARCHITECTURE USING PREDICTIVE CONTROL FOR A PUMA560 ROBOT

Paulo Ferreira; João C. Pinto

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Paper

A VISUAL SERVOING ARCHITECTURE USING PREDICTIVE CONTROL FOR A PUMA560 ROBOT

Topics: Modeling, Simulation and Architectures

In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 475-478, 2004 , Setúbal, Portugal

Authors: Paulo Ferreira ¹ and João C. Pinto ²

Affiliations: ¹ Escola Superior de Tecnologia de Setúbal, Portugal ; ² Instituto Superior Técnico, Portugal

Keyword(s): robotic manipulators, predictive control, vision, modelling, simulation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robotics and Automation

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.

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Paper citation in several formats:

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; ISSN 2184-2809, SciTePress, pages 475-478. DOI: 10.5220/0001147204750478

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Ferreira, P.
AU - C. Pinto, J.
PY - 2004
SP - 475
EP - 478
DO - 10.5220/0001147204750478
PB - SciTePress