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Impedance-Based Smoothing for Visual Servoing along Edges

Lange, Friedrich and Frommberger, Mirko and Hirzinger, Gerd (2006) Impedance-Based Smoothing for Visual Servoing along Edges. In: Proceedings ISR-2006, Joint Conference on Robotics / ROBOTIK 2006. ISR 2006, München.

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Abstract

In contrast to explicit sensor-based control where the goal is to minimize the differnce between sensed and desired sensor values, impedancebased control also considers the required accelerations and thus smoothes robot motion. Two approaches to impedance control are developed and applied to the sensor-based method in [1] which uses predictive control to track unknown contours at high speed. With the impedance approach the contour is not more required to be smooth.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Impedance-Based Smoothing for Visual Servoing along Edges
Authors:
AuthorsInstitution or Email of Authors
Lange, FriedrichUNSPECIFIED
Frommberger, MirkoUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2006
Journal or Publication Title:Proceedings ISR-2006, Joint Conference on Robotics / ROBOTIK 2006
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:visual servoing, tracking, impedance control, hierarchical control
Event Title:ISR 2006
Event Location:München
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:06 Sep 2007
Last Modified:27 Apr 2009 14:20

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