GPC versus H-infinity Control for Fast Visual Servoing of a Medical Manipulator including Flexibilities.
Loïc CuvillonEdouard LarocheJacques GangloffMichel de MathelinPublished in: ICRA (2005)
Keyphrases
- visual servoing
- robotic arm
- end effector
- vision system
- robotic manipulator
- trajectory tracking
- image based visual servoing
- robot control
- mobile robot
- control law
- visual feedback
- control system
- camera motion
- degrees of freedom
- image space
- control method
- real time
- dynamic model
- dynamic programming
- computer vision
- autonomous robots
- position and orientation
- optimization algorithm
- master slave
- least squares
- machine learning
- neural network