Continuous-time model identification of robot flexibilities for fast visual servoing
Overview & Synopsis
This paper presents a general methodology for identifying the dynamical part of the continuous-time model of an articulated arm including flexibilities dedicated to visual servoing. Based on this model, a H-infinity control law is designed and implemented, allowing to reach high dynamics.
Indexed from repository: HAL Open Science
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hal.science)
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Document Information
| Document Title | Continuous-time model identification of robot flexibilities for fast visual servoing |
|---|---|
| Author / Organization | Luc Cuvillon, Edouard Laroche, Hugues Garnier, Jacques Gangloff, Michel de Mathelin |
| Subject & Discipline | Multidisciplinary Academic Open Research |
| Categories | Science & Mathematics |
| Publication Year | 2006 |
| License / Rights | Open Access / Creative Commons |
| Resource Verification | Listed PDF (Verification Pending) |
| Original Host Website |
HAL Open Science
(hal.science)
|
| File Format | application/pdf (Portable Document Format) |
| Language | EN |
| Catalog ID | DOC-160839 |
| Original Source Link | Visit Source Page on hal.science » |