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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