Stable Hybrid Visual Servo Control by a Weighted Combination of image-based and position-based Algorithms
- Resource Type
- Article
Text
- Authors
- A. H. Abdul Hafez; Enric Cervera; C.V. Jawahar
- Source
- International Journal of Control and Automation, 06/30/2013, Vol. 6, Issue 3, p. 149-164
- Subject
- Language
- 영어(ENG)
- ISSN
- 2005-4297
In this paper, we present a novel stable hybrid vision-based robot control algorithm. This method utilizes probabilistic integration of image-based and position-based visual servo con- trollers to produce an improved vision-based robot control. A probabilistic framework is employed to derive the integration scheme. Appropriate probabilistic importance functions are dened for the basic two algorithms to characterize their suitability in the task. The integrated algorithm has superior performance both in image and Cartesian spaces. Exper- iments validate this claim.