FPGA's based visual servoing of a 2 d.o.f planar camera-in-hand Robot with Cartesian Control even at Singular Configurations

C. Brito-Loeza*, J. R. Atoche-Enseñat, R. Pérez, L. A. Muñoz-Ubando, M. Navarro-Soza

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Using FPGA based visual servoing is becoming an attractive technology basically by the speeding-up properties. Nevertheless, even simple experiments are computationally expensive to build. Up to now any reliable software needs to be translated to VHDL or similar hardware languages. In this paper a very simple color-based visual servoing technique is presented together with an stable practical control law. The results show an interesting perspective on the use of this technology to a new generation of experimental robots.

Original languageEnglish
Title of host publicationWMSCI 2005 - The 9th World Multi-Conference on Systemics, Cybernetics and Informatics, Proceedings
Pages192-196
Number of pages5
StatePublished - 2005
Externally publishedYes
Event9th World Multi-Conference on Systemics, Cybernetics and Informatics, WMSCI 2005 - Orlando, FL, United States
Duration: 10 Jul 200513 Jul 2005

Publication series

NameWMSCI 2005 - The 9th World Multi-Conference on Systemics, Cybernetics and Informatics, Proceedings
Volume5

Conference

Conference9th World Multi-Conference on Systemics, Cybernetics and Informatics, WMSCI 2005
Country/TerritoryUnited States
CityOrlando, FL
Period10/07/0513/07/05

Fingerprint

Dive into the research topics of 'FPGA's based visual servoing of a 2 d.o.f planar camera-in-hand Robot with Cartesian Control even at Singular Configurations'. Together they form a unique fingerprint.

Cite this