[EN] This paper presents the modeling, design and visual control of a 3 degrees of freedom joint structure with an eye-in-hand camera. For the structure guidance, the paper presents a new direct visual servoing strategy ...
Solanes Galbis, Juan Ernesto; Gracia Calandin, Luis Ignacio(Universitat Politècnica de València, 2021-02-04)
Este artículo docente establece las bases del control de robots por realimentación visual, en concreto el control en el espacio de la imagen. Al terminar el artículo, el alumno será capaz de definir el concepto conocido ...
Solanes, J. Ernesto; Muñoz-Benavent, Pau; Armesto, Leopoldo; Gracia Calandin, Luis Ignacio; Tornero Montserrat, Josep(Taylor & Francis, 2022-03-04)
[EN] This paper develops the application of the Dual Rate Dual Sampling Reference Filtering Control Strategy to 2D and 3D visual feedback control. This strategy allows to overcome the problem of sensor latency and to address ...
Solanes Galbis, Juan Ernesto; Muñoz Benavent, Pau; Girbés, Vicent; Armesto Ángel, Leopoldo; Tornero Montserrat, Josep(Cambridge University Press, 2015-06-11)
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 ...
Muñoz Benavent, Pau; Solanes Galbis, Juan Ernesto; Gracia Calandin, Luis Ignacio; Tornero Montserrat, Josep(Elsevier, 2015-03)
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 ...
Muñoz-Benavent, Pau; Solanes Galbis, Juan Ernesto; Gracia Calandin, Luis Ignacio; Tornero Montserrat, Josep(Taylor & Francis, 2019)
[EN] This work presents an automated solution for tool changing in industrial robots using visual servoing and sliding mode control. The robustness of the proposed method is due to the control law of the visual servoing, ...
Muñoz-Benavent, Pau; Gracia Calandin, Luis Ignacio; Solanes Galbis, Juan Ernesto; Esparza Peidro, Alicia; Tornero Montserrat, Josep(Elsevier, 2018-02)
[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 ...
Perez Vidal, Carlos; Garcia, Nicolas; Cervera, Enric; Gracia Calandin, Luis Ignacio; Sabater Navarro, José María(Manchester University Press, 2011)
[EN] Visual servoing uses the visual information provided by cameras to control the movement of a robotic system. This paper presents an international on-line course aimed at BSc, MSc and PhD students in this subject. The ...