@inproceedings{7a46d9134d444abd8e828075bdc6a7c6,
title = "A dynamic visual servoing of robot manipulator with eye-in-hand camera",
abstract = "In this paper, we propose a dynamic visual servo controller for precise tracking of robot manipulator. For the controller, we used a dual-loop structure which includes a vision controller and dynamic controller with different sampling speed. The vision controller is accommodated in the outer control loop with the aid of eye-in-hand camera, implementing the image based visual servoing method. As an inner loop controller, an adaptive backstepping controller is derived for position control of joint angle together with PID controller. The performance of proposed visual servo controller has been verified through computer simulation with V-REP simulation package.",
keywords = "Adaptive Backstepping Control, Dual-loop Structure Visual Servo System, Eye-in-hand, Image-based Visual Servo, Visual Servoing",
author = "Bae, \{Sang Hyeon\} and Kim, \{Eun Jin\} and Yang, \{Seon Je\} and Park, \{Jong Koo\} and Kuc, \{Tae Yong\}",
note = "Publisher Copyright: {\textcopyright} 2018 Institute of Electronics and Information Engineers.; 17th International Conference on Electronics, Information and Communication, ICEIC 2018 ; Conference date: 24-01-2018 Through 27-01-2018",
year = "2018",
month = apr,
day = "2",
doi = "10.23919/ELINFOCOM.2018.8330640",
language = "English",
series = "International Conference on Electronics, Information and Communication, ICEIC 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1--4",
booktitle = "International Conference on Electronics, Information and Communication, ICEIC 2018",
}