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On improving robot image-based visual servoing based on dual-rate reference filtering control strategy

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On improving robot image-based visual servoing based on dual-rate reference filtering control strategy

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dc.contributor.author Solanes Galbis, Juan Ernesto es_ES
dc.contributor.author Muñoz Benavent, Pau es_ES
dc.contributor.author Girbés, Vicent es_ES
dc.contributor.author Armesto Ángel, Leopoldo es_ES
dc.contributor.author Tornero Montserrat, Josep es_ES
dc.date.accessioned 2016-06-15T10:29:02Z
dc.date.available 2016-06-15T10:29:02Z
dc.date.issued 2015-06-11
dc.identifier.issn 0263-5747
dc.identifier.uri http://hdl.handle.net/10251/65956
dc.description.abstract It is well known that the use of multi-rate control techniques have improved the performance of many systems in general, and robotic systems, in particular. The main contribution of this paper is the generalization of the Reference Filtering control strategy from a dual-rate point of view, improving its inherent properties by overcoming the problem of sensor latency. In the paper, we discuss and analyze the improvements introduced by the novel dual-rate reference filtering control strategy in terms of convergence time, reachability and robustness. More specifically, we discuss the capability to solve positioning tasks, when hardware limitations are present with large sampling rates. In addition, a comparison is made between the single-rate and the proposed dual-rate control strategies to prove the advantages of the latter approach. A complete set-up has been prepared for validation, including a six degree of freedom (DOF) industrial manipulator, a smart camera and embedded hardware used as a high level controller. es_ES
dc.description.sponsorship This work was supported by VALi+d Program (Generalitat Valenciana), DIVISAMOS Project (Spanish Ministry, DPI-2009-14744-C03-01), PROMETEO Program (Conselleria d'Educacio, Generalitat Valenciana) and SAFEBUS: Ministry of Economy and Competitivity, IPT-2011-1165-370000). en_EN
dc.language Inglés es_ES
dc.publisher Cambridge University Press es_ES
dc.relation.ispartof Robotica es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Visual servoing es_ES
dc.subject Visual feedback control es_ES
dc.subject Nonlinear control es_ES
dc.subject Multi-rate control es_ES
dc.subject Optimal trajectory es_ES
dc.subject Multi-rate kalman filter es_ES
dc.subject Industrial robots. es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title On improving robot image-based visual servoing based on dual-rate reference filtering control strategy es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1017/S0263574715000454
dc.relation.projectID info:eu-repo/grantAgreement/MICINN//DPI2009-14744-C03-01/ES/Diseño De Un Vehiculo De Inspeccion Submarina Autonoma Para Misiones Oceanograficas: Grupo De Investigacion Idf-Upv/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MICINN//IPT-2011-1165-370000/ES/SISTEMAS AVANZADOS DE SEGURIDAD INTEGRAL EN AUTOBUSES - SAFEBUS/ 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 Solanes Galbis, JE.; Muñoz Benavent, P.; Girbés, V.; Armesto Ángel, L.; Tornero Montserrat, J. (2015). On improving robot image-based visual servoing based on dual-rate reference filtering control strategy. Robotica. 1-18. https://doi.org/10.1017/S0263574715000454 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion http://dx.doi.org/10.1017/S0263574715000454 es_ES
dc.description.upvformatpinicio 1 es_ES
dc.description.upvformatpfin 18 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.relation.senia 290879 es_ES
dc.identifier.eissn 1469-8668
dc.contributor.funder Ministerio de Ciencia e Innovación es_ES
dc.contributor.funder Generalitat Valenciana es_ES


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