High Speed Visual Servoing of a 6 DOF Manipulator using MIMO Predictive Control.
Jacques GangloffMichel de MathelinPublished in: ICRA (2000)
Keyphrases
- visual servoing
- predictive control
- control law
- end effector
- robotic manipulator
- robotic arm
- control scheme
- closed loop
- control strategy
- control system
- image based visual servoing
- motion planning
- control algorithm
- degrees of freedom
- trajectory tracking
- vision system
- mobile robot
- optimal control
- dynamical systems
- robot arm
- visual feedback
- real time
- multiple models
- robot control
- autonomous robots
- neuro fuzzy
- robot manipulators
- power plant
- parallel robot
- reinforcement learning
- decision trees
- video sequences
- computer vision
- inverse kinematics
- regression model
- control parameters
- linear model
- fuzzy controller
- control method
- path planning