Variable structure PID controller for cooperative eye

Variable structure PID controller for cooperative eye-in-hand/eye-to-hand visual servoing

Elena M., Cristiano M., Damiano F., Bonfe, M.
Dept. of Eng., Ferrara Univ., Italy;

This paper appears in: Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on
Publication Date: 23-25 June 2003
Volume: 1, On page(s): 989- 994 vol.2
ISSN: 1085-1992
ISBN: 0-7803-7729-X
INSPEC Accession Number: 7831900
Digital Object Identifier: 10.1109/CCA.2003.1223145
Posted online: 2003-08-26 09:02:52.0

Abstract
This paper presents an experiment on the use of a cooperative camera system for robotic tracking of an object moving on a plane. The image of the object is acquired from two cameras, the first one (camera in hand) mounted on the end-effector of a 6 DOF robot arm (Puma 260) and the second one fixed in a certain location (fixed camera). The images are processed by a frame grabber on a standard PC, and the controller has a variable structure, which is capable to change from a PID to PD and vice versa according to the dynamic of the target.