Abstract
AbstractA novel architecture for integrating reference trajectory and image prediction is proposed to be used in predictive control of visual servoing systems. In the proposed method, a new predictor is developed based on the relation between the camera velocity and the time variation of the visual features given by the interaction matrix. In addition, a reference trajectory is introduced to define the way how to reach the desired features over the prediction horizon starting from the current features. Simulations reveal the efficiency of the proposed architecture to control a 6 degrees of freedom robot manipulator.
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