Robust Control for High-Speed Visual Servoing Applications

Lars-Peter Ellekilde, Peter Favrholdt, Mads Paulin, Henrik Gordon Petersen

Research output: Contribution to journalJournal articleResearchpeer-review

Abstract

This paper presents a new control scheme for visual servoing applications. The approach employs
quadratic optimization, and explicitly handles both joint position, velocity and acceleration limits. Contrary to
existing techniques, our method does not rely on large safety margins and slow task execution to avoid joint
limits, and is hence able to exploit the full potential of the robot. Furthermore, our control scheme guarantees a
well-defined behavior of the robot even when it is in a singular configuration, and thus handles both internal and
external singularities robustly. We demonstrate the correctness and efficiency of our approach in a number of
visual servoing applications, and compare it to a range of previously proposed techniques.

Original languageEnglish
JournalInternational Journal of Advanced Robotic Systems
Volume4
Issue number3
Pages (from-to)279-292
Number of pages13
ISSN1729-8806
Publication statusPublished - 1. Sep 2007

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Visual servoing
Robust control
Robots

Keywords

  • Visual Servoing
  • Inverse Jacobian
  • Quadratic Optimization

Cite this

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title = "Robust Control for High-Speed Visual Servoing Applications",
abstract = "This paper presents a new control scheme for visual servoing applications. The approach employsquadratic optimization, and explicitly handles both joint position, velocity and acceleration limits. Contrary toexisting techniques, our method does not rely on large safety margins and slow task execution to avoid jointlimits, and is hence able to exploit the full potential of the robot. Furthermore, our control scheme guarantees awell-defined behavior of the robot even when it is in a singular configuration, and thus handles both internal andexternal singularities robustly. We demonstrate the correctness and efficiency of our approach in a number ofvisual servoing applications, and compare it to a range of previously proposed techniques.",
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Robust Control for High-Speed Visual Servoing Applications. / Ellekilde, Lars-Peter; Favrholdt, Peter; Paulin, Mads; Petersen, Henrik Gordon.

In: International Journal of Advanced Robotic Systems, Vol. 4, No. 3, 01.09.2007, p. 279-292.

Research output: Contribution to journalJournal articleResearchpeer-review

TY - JOUR

T1 - Robust Control for High-Speed Visual Servoing Applications

AU - Ellekilde, Lars-Peter

AU - Favrholdt, Peter

AU - Paulin, Mads

AU - Petersen, Henrik Gordon

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N2 - This paper presents a new control scheme for visual servoing applications. The approach employsquadratic optimization, and explicitly handles both joint position, velocity and acceleration limits. Contrary toexisting techniques, our method does not rely on large safety margins and slow task execution to avoid jointlimits, and is hence able to exploit the full potential of the robot. Furthermore, our control scheme guarantees awell-defined behavior of the robot even when it is in a singular configuration, and thus handles both internal andexternal singularities robustly. We demonstrate the correctness and efficiency of our approach in a number ofvisual servoing applications, and compare it to a range of previously proposed techniques.

AB - This paper presents a new control scheme for visual servoing applications. The approach employsquadratic optimization, and explicitly handles both joint position, velocity and acceleration limits. Contrary toexisting techniques, our method does not rely on large safety margins and slow task execution to avoid jointlimits, and is hence able to exploit the full potential of the robot. Furthermore, our control scheme guarantees awell-defined behavior of the robot even when it is in a singular configuration, and thus handles both internal andexternal singularities robustly. We demonstrate the correctness and efficiency of our approach in a number ofvisual servoing applications, and compare it to a range of previously proposed techniques.

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KW - Inverse Jacobian

KW - Quadratic Optimization

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