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Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm

In industrial robotics, grasping an object is required to happen fast since the position and orientation of such an object is a-priori known. However, if such information about the position and orientation is unavailable and objects are spread randomly on a conveyor, it may be challenging to keep th...

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Main Author: Benbelkacem, Yacine
Format: Thesis
Language:English
Published: 2013
Subjects:
TK1-9971 Electrical engineering. Electronics. Nuclear engineering
Online Access:http://eprints.usm.my/46342/1/Yacine%20Benbelkacem24.pdf
http://eprints.usm.my/46342/
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spelling my.usm.eprints.46342 http://eprints.usm.my/46342/ Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm Benbelkacem, Yacine TK1-9971 Electrical engineering. Electronics. Nuclear engineering In industrial robotics, grasping an object is required to happen fast since the position and orientation of such an object is a-priori known. However, if such information about the position and orientation is unavailable and objects are spread randomly on a conveyor, it may be challenging to keep the dexterity and speed at which the task is carried out. Nowadays, the use of vision sensors to compute the position and orientation of an object and to reposition the robotic system is being used accordingly. This technology has indirectly introduced a disparity in time that varies according to the nature of the control technique. 2013-11 Thesis NonPeerReviewed application/pdf en http://eprints.usm.my/46342/1/Yacine%20Benbelkacem24.pdf Benbelkacem, Yacine (2013) Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm. Masters thesis, Universiti Sains Malaysia.
institution Universiti Sains Malaysia
building Hamzah Sendut Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Sains Malaysia
content_source USM Institutional Repository
url_provider http://eprints.usm.my/
language English
topic TK1-9971 Electrical engineering. Electronics. Nuclear engineering
spellingShingle TK1-9971 Electrical engineering. Electronics. Nuclear engineering
Benbelkacem, Yacine
Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm
description In industrial robotics, grasping an object is required to happen fast since the position and orientation of such an object is a-priori known. However, if such information about the position and orientation is unavailable and objects are spread randomly on a conveyor, it may be challenging to keep the dexterity and speed at which the task is carried out. Nowadays, the use of vision sensors to compute the position and orientation of an object and to reposition the robotic system is being used accordingly. This technology has indirectly introduced a disparity in time that varies according to the nature of the control technique.
format Thesis
author Benbelkacem, Yacine
author_facet Benbelkacem, Yacine
author_sort Benbelkacem, Yacine
title Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm
title_short Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm
title_full Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm
title_fullStr Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm
title_full_unstemmed Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm
title_sort near-minimum time visual servo control of an underactuated robotic arm
publishDate 2013
url http://eprints.usm.my/46342/1/Yacine%20Benbelkacem24.pdf
http://eprints.usm.my/46342/
_version_ 1662755771514880000
score 13.160551

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