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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.
| Item URL in elib: | https://elib.dlr.de/51244/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||
| Title: | Impedance-Based Smoothing for Visual Servoing along Edges | ||||||||||||||||
| Authors: |
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| Date: | 2006 | ||||||||||||||||
| Journal or Publication Title: | Proceedings ISR-2006, Joint Conference on Robotics / ROBOTIK 2006 | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | No | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||
| 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 (until 2012) > Robotic Systems | ||||||||||||||||
| Deposited By: | Klauer, Monika | ||||||||||||||||
| Deposited On: | 06 Sep 2007 | ||||||||||||||||
| Last Modified: | 27 Apr 2009 14:20 |
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