書誌事項
- タイトル別名
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- Adaptive Visual Servoing Controller with Feedforward Compensator without Knowledge of True Jacobian.
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This paper describes an adaptive visual servoing controller consisting of an on-line estimator and a feedback/feedforward controller for uncalibrated camera-manipulator systems. The estimator does not need a priori knowledge on the kinematic structure nor parameters of the camera-manipulator system, such as camera and link parameters. The controller consists of feedforward and feedback terms to make the image features converge to the desired trajectories, by using the estimated results. Some experimental results demonstrate the validity of the proposed estimator and controller.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 14 (2), 313-319, 1996
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204725369216
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- NII論文ID
- 10011652191
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可