A new control scheme for visual servoing |
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| Authors: | Luis Gracia Carlos Perez-Vidal |
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| Affiliation: | 1. Instituto IDF, Universidad Politécnica de Valencia, Camino de Vera s/n, 46022, Valencia, Spain
2. Departamento de Ingenería de Sistemas Industriales, Universidad Miguel Hernández, Avenida de la Universidad s/n, 03202, Elche, Spain
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| Abstract: | This research presents a new control scheme for visual servoing that takes into account the delay introduced by image acquisition
and image processing. Firstly, previous control schemes for visual servoing are discussed and then a new control scheme is
proposed and fully described. Afterwards, the capabilities (steady-state errors, stability margins, step time response, etc.)
of the proposed control scheme and of previous ones are analytically analyzed and compared. Next, several simulations and
experimental results are provided to validate the analytical results and to illustrate the benefits of the proposed control
scheme. In particular, it is shown that this new control scheme clearly improves the performance of the previous ones. |
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