MIT Libraries homeMIT Libraries logoDSpace@MIT

MIT
View Item 
  • DSpace@MIT Home
  • MIT Open Access Articles
  • MIT Open Access Articles
  • View Item
  • DSpace@MIT Home
  • MIT Open Access Articles
  • MIT Open Access Articles
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Task-space setpoint control of robots with dual task-space information

Author(s)
Cheah, C. C.; Slotine, Jean-Jacques E.
Thumbnail
DownloadCheah-2009-Task-space setpoint control of robots with dual task-space information.pdf (390.9Kb)
PUBLISHER_POLICY

Publisher Policy

Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.

Terms of use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Metadata
Show full item record
Abstract
In conventional task-space control problem of robots, a single task-space information is used for the entire task. When the task-space control problem is formulated in image space, this implies that visual feedback is used throughout the movement. While visual feedback is important to improve the endpoint accuracy in presence of uncertainty, the initial movement is primarily ballistic and hence visual feedback is not necessary. The relatively large delay in visual information would also make the visual feedback ineffective for fast initial movements. Due to limited field of view of the camera, it is also difficult to easure that visual feedback can be used for the entire task. Therefore, the task may fail if any of the features is out of view. In this paper, we present a new task-space control strategy that allows the use of dual task-space information in a single controller. We shall show that the proposed task-space controller can transit smoothly from Cartesian-space feedback at the initial stage to vision-space feedback at the end stage when the target is near.
Date issued
2009-07
URI
http://hdl.handle.net/1721.1/53750
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering; Massachusetts Institute of Technology. Nonlinear Systems Laboratory
Journal
IEEE International Conference on Robotics and Automation, 2009. ICRA '09.
Publisher
Institute of Electrical and Electronics Engineers
Citation
Cheah, C.C., and J. Slotine. “Task-space setpoint control of robots with dual task-space information.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 3706-3711. © 2009 IEEE
Version: Final published version
ISBN
978-1-4244-2788-8

Collections
  • MIT Open Access Articles

Browse

All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

Login

Statistics

OA StatisticsStatistics by CountryStatistics by Department
MIT Libraries homeMIT Libraries logo

Find us on

Twitter Facebook Instagram YouTube RSS

MIT Libraries navigation

SearchHours & locationsBorrow & requestResearch supportAbout us
PrivacyPermissionsAccessibility
MIT
Massachusetts Institute of Technology
Content created by the MIT Libraries, CC BY-NC unless otherwise noted. Notify us about copyright concerns.