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Operations Research, Systems Engineering and Industrial Engineering Commons

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Series

1995

GRASP

Articles 1 - 2 of 2

Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering

A “Robust” Convergent Visual Servoing System, D. Kim, A. A. Rizzi, G. D. Hager, Daniel E. Koditschek Jan 1995

A “Robust” Convergent Visual Servoing System, D. Kim, A. A. Rizzi, G. D. Hager, Daniel E. Koditschek

Departmental Papers (ESE)

This paper describes a simple visual servoing control algorithm capable of robustly positioning a three degree of freedom end effector based only on information from a stereo vision system. The proposed control algorithm does not require estimates of the gripper’s spatial position, a significant source of calibration sensitivity. The controller is completely immune to positional camera calibration errors, and we demonstrate robustness to orientation miscalibration through a series of simulations and experiments.

For more information: Kod*Lab


The Geometry Of A Robot Programming Language, Daniel E. Koditschek Jan 1995

The Geometry Of A Robot Programming Language, Daniel E. Koditschek

Departmental Papers (ESE)

This paper explores the problem of building robot navigation plans via scalar valued functions in the face of incomplete information about the configuration space such as might be available from onboard sensors. It seems as though syntactical aspects of navigation function construction may play an important role. This problem provides an important concrete instance of the need for intelligent control.

For more information: Kod*Lab