Artículo

Passivity based visual servoing of mobile robots with dynamics compensation

Morales, Beatriz; Roberti, FlavioIcon ; Toibero, Juan MarcosIcon ; Carelli Albarracin, Ricardo OscarIcon
Fecha de publicación: 06/2012
Editorial: Pergamon-Elsevier Science Ltd
Revista: Mechatronics
ISSN: 0957-4158
Idioma: Inglés
Tipo de recurso: Artículo publicado
Clasificación temática:

Resumen

This paper presents an image-based dynamic visual servoing to make a mobile robot able to track a moving object on the workspace by using a calibrated on board vision system. The stability of the proposed system is proved based on its passivity properties. A robustness analysis and an L2-gain performance analysis are also presented. Experimental results are shown to illustrate the system performance.
Palabras clave: MOBILE ROBOTS , PASSIVITY , VISUAL SERVOING
 
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info:eu-repo/semantics/openAccess Excepto donde se diga explícitamente, este item se publica bajo la siguiente descripción: Creative Commons Attribution-NonCommercial-ShareAlike 2.5 Unported (CC BY-NC-SA 2.5)
Identificadores
URI: http://hdl.handle.net/11336/191581
URL: https://www.sciencedirect.com/science/article/pii/S0957415811001504
DOI: http://dx.doi.org/10.1016/j.mechatronics.2011.09.007
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Citación
Morales, Beatriz; Roberti, Flavio; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar; Passivity based visual servoing of mobile robots with dynamics compensation; Pergamon-Elsevier Science Ltd; Mechatronics; 22; 4; 6-2012; 481-490
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