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oe1(光电查) - 科学论文

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?? 中文（中国） ▾

  • Passively mode-locked 2.7 and 3.2 ??m GaSb-based cascade diode lasers

    摘要： This paper presents an online image-based visual servoing (IBVS) controller for a 6-degrees-of-freedom (DOF) robotic system based on the robust model predictive control (RMPC) method. The controller is designed considering the robotic visual servoing system’s input and output constraints, such as robot physical limitations and visibility constraints. The proposed IBVS controller avoids the inverse of the image Jacobian matrix and hence can solve the intractable problems for the classical IBVS controller, such as large displacements between the initial and the desired positions of the camera. To verify the effectiveness of the proposed algorithm, real-time experimental results on a 6-DOF robot manipulator with eye-in-hand configuration are presented and discussed.

    关键词： visual servoing,Image-based visual servoing (IBVS),robotic,model predictive controller (MPC)

    更新于2025-09-23 15:21:01

  • [IEEE 2019 International Conference on Smart Systems and Inventive Technology (ICSSIT) - Tirunelveli, India (2019.11.27-2019.11.29)] 2019 International Conference on Smart Systems and Inventive Technology (ICSSIT) - Transmission and Reflection Grating coupled Optical Waveguide Structures

    摘要： This paper presents an online image-based visual servoing (IBVS) controller for a 6-degrees-of-freedom (DOF) robotic system based on the robust model predictive control (RMPC) method. The controller is designed considering the robotic visual servoing system’s input and output constraints, such as robot physical limitations and visibility constraints. The proposed IBVS controller avoids the inverse of the image Jacobian matrix and hence can solve the intractable problems for the classical IBVS controller, such as large displacements between the initial and the desired positions of the camera. To verify the effectiveness of the proposed algorithm, real-time experimental results on a 6-DOF robot manipulator with eye-in-hand configuration are presented and discussed.

    关键词： Image-based visual servoing (IBVS),model predictive controller (MPC),robotic,visual servoing

    更新于2025-09-19 17:13:59