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dc.contributor.author | Muñoz Benavent, Pau | es_ES |
dc.contributor.author | Solanes Galbis, Juan Ernesto | es_ES |
dc.contributor.author | Gracia Calandin, Luis Ignacio | es_ES |
dc.contributor.author | Tornero Montserrat, Josep | es_ES |
dc.date.accessioned | 2015-04-28T09:23:52Z | |
dc.date.available | 2015-04-28T09:23:52Z | |
dc.date.issued | 2015-03 | |
dc.identifier.issn | 0921-8890 | |
dc.identifier.uri | http://hdl.handle.net/10251/49366 | |
dc.description.abstract | In this paper, novel visual servoing techniques based on Pulse Width Modulation (PWM) and Pulse Frequency Modulation (PFM) are presented. In order to apply previous pulse modulations, a fully decoupled position based visual servoing approach (i.e. with block-diagonal interaction matrix) is considered, controlling independently translational and rotational camera motions. These techniques, working at high frequency, could be considered to address the sensor latency problem inherent in visual servoing systems. The expected appearance of ripple due to the concentration of the control action in pulses is quantified and analyzed under simulated scenario. This high frequency ripple does not affect the system performance since it is filtered by the manipulator dynamics. On the contrary it can be seen as a dither signal to minimize the impact of friction and overcome back-lashing. | es_ES |
dc.description.sponsorship | This work was supported in part by the Spanish Government under Grant BES-2010-038486 and Project DPI2013-42302-R. | en_EN |
dc.language | Inglés | es_ES |
dc.publisher | Elsevier | es_ES |
dc.relation.ispartof | Robotics and Autonomous Systems | es_ES |
dc.rights | Reserva de todos los derechos | es_ES |
dc.subject | Visual servoing | es_ES |
dc.subject | Robot vision systems | es_ES |
dc.subject | Robot manipulators | es_ES |
dc.subject | Robot control | es_ES |
dc.subject.classification | INGENIERIA DE SISTEMAS Y AUTOMATICA | es_ES |
dc.title | PWM and PFM for visual servoing in fully decoupled approaches | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.1016/j.robot.2014.11.011 | |
dc.relation.projectID | info:eu-repo/grantAgreement/MINECO//DPI2013-42302-R/ES/SISTEMAS DE CONDUCCION SEGURA DE VEHICULOS DE TRANSPORTE DE PASAJEROS Y MATERIALES CON ASISTENCIA HAPTICA%2FAUDIOVISUAL E INTERFACES BIOMEDICAS/ / | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/MICINN//BES-2010-038486/ES/BES-2010-038486/ | es_ES |
dc.rights.accessRights | Abierto | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Instituto de Diseño para la Fabricación y Producción Automatizada - Institut de Disseny per a la Fabricació i Producció Automatitzada | es_ES |
dc.description.bibliographicCitation | Muñoz Benavent, P.; Solanes Galbis, JE.; Gracia Calandin, LI.; Tornero Montserrat, J. (2015). PWM and PFM for visual servoing in fully decoupled approaches. Robotics and Autonomous Systems. 65(1):57-64. doi:10.1016/j.robot.2014.11.011 | es_ES |
dc.description.accrualMethod | S | es_ES |
dc.relation.publisherversion | http://dx.doi.org/10.1016/j.robot.2014.11.011 | es_ES |
dc.description.upvformatpinicio | 57 | es_ES |
dc.description.upvformatpfin | 64 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 65 | es_ES |
dc.description.issue | 1 | es_ES |
dc.relation.senia | 279415 |