Increasing the Performance of Torque-Based Visual Servoing by Applying Time Domain Passivity

Schmidt, Phillip and Artigas, Jordi and De Stefano, Marco and Balachandran, Ribin and Ott, Christian (2015) Increasing the Performance of Torque-Based Visual Servoing by Applying Time Domain Passivity. 11th IFAC Symposium on Robot Control, Salvador, Brasilien.

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Item URL in elib:

https://elib.dlr.de/100439/

Document Type:

Conference or Workshop Item (Speech)

Title:

Increasing the Performance of Torque-Based Visual Servoing by Applying Time Domain Passivity

Authors:

Authors	Institution or Email of Authors	Author's ORCID iD
Schmidt, Phillip	phillip.schmidt (at) dlr.de	UNSPECIFIED
Artigas, Jordi	Jordi.Artigas (at) dlr.de	UNSPECIFIED
De Stefano, Marco	marco.destefano (at) dlr.de	UNSPECIFIED
Balachandran, Ribin	ribin.balachandran (at) dlr.de	UNSPECIFIED
Ott, Christian	Christian.Ott (at) dlr.de	UNSPECIFIED

Date:

2015

Refereed publication:

Yes

Open Access:

Gold Open Access:

In SCOPUS:

In ISI Web of Science:

Status:

Published

Keywords:

Visual servoing, Position-based visual servoing, Robot control, Robot dynamics, Time delay, Discrete measurements, Passivity, Time domain passivity, Variable damping

Event Title:

11th IFAC Symposium on Robot Control

Event Location:

Salvador, Brasilien

Event Type:

international Conference

HGF - Research field:

Aeronautics, Space and Transport

HGF - Program:

Space

HGF - Program Themes:

Space System Technology

DLR - Research area:

Raumfahrt

DLR - Program:

R SY - Space System Technology

DLR - Research theme (Project):

R - Terrestrial Assistance Robotics (old), R - On-Orbit Servicing [SY]

Location:

Oberpfaffenhofen

Institutes and Institutions:

Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems

Deposited By:

Schmidt, Phillip

Deposited On:

04 Dec 2015 15:38

Last Modified:

10 May 2016 23:37

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