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Direct Visual Servoing Framework based on Optimal Control for Redundant Joint Structures
Jorge Pomares,Carlos Alberto Jara,Javier Pérez,Fernando Torres 한국정밀공학회 2015 International Journal of Precision Engineering and Vol. No.
This paper presents a new framework based on optimal control to define new dynamic visual controllers to carry out the guidanceof any serial link structure. The proposed general method employs optimal control to obtain the desired behaviour in the joint spacebased on an indicated cost function which determines how the control effort is distributed over the joints. The proposed approachallows the development of new direct visual controllers for any mechanical joint system with redundancy. Finally, authors showexperimental results and verifications on a real robotic system for some derived controllers obtained from the control framework.