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Robust fulfillment of constraints in robot visual servoing

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Robust fulfillment of constraints in robot visual servoing

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Muñoz-Benavent, P.; Gracia Calandin, LI.; Solanes Galbis, JE.; Esparza Peidro, A.; Tornero Montserrat, J. (2018). Robust fulfillment of constraints in robot visual servoing. Control Engineering Practice. 71(1):79-95. https://doi.org/10.1016/j.conengprac.2017.10.017

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/151157

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Title: Robust fulfillment of constraints in robot visual servoing
Author: Muñoz-Benavent, Pau Gracia Calandin, Luis Ignacio Solanes Galbis, Juan Ernesto Esparza Peidro, Alicia Tornero Montserrat, Josep
UPV Unit: Universitat Politècnica de València. Departamento de Informática de Sistemas y Computadores - Departament d'Informàtica de Sistemes i Computadors
Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Issued date:
Abstract:
[EN] In this work, an approach based on sliding mode ideas is proposed to satisfy constraints in robot visual servoing. In particular, different types of constraints are defined in order to: fulfill the visibility constraints ...[+]
Subjects: Visual servoing , Sliding mode , Robot control
Copyrigths: Reserva de todos los derechos
Source:
Control Engineering Practice. (issn: 0967-0661 )
DOI: 10.1016/j.conengprac.2017.10.017
Publisher:
Elsevier
Publisher version: https://doi.org/10.1016/j.conengprac.2017.10.017
Project ID:
GV/BEST/2017/029
MINISTERIO DE ECONOMIA INDUSTRIA Y COMPETITIVIDAD /BES-2010-038486
MINECO/DPI2013-42302-R-AR
GENERALITAT VALENCIANA/APOSTD/2016/044
AEI/DPI2017-87656-C2-1-R-AR
Thanks:
This work was supported in part by the Spanish Government under grants BES-2010-038486 and Project DPI2013-42302-R, and the Generalitat Valenciana under grants VALi+d APOSTD/2016/044 and BEST/2017/029.
Type: Artículo

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