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
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id	my-usm-ep.46342
record_format	uketd_dc
spelling	my-usm-ep.463422020-02-26T03:53:13Z Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm 2013-11 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 http://eprints.usm.my/46342/ http://eprints.usm.my/46342/1/Yacine%20Benbelkacem24.pdf application/pdf en public masters Universiti Sains Malaysia Pusat Pengajian Kejuruteraan Elektrik & Elektronik
institution	Universiti Sains Malaysia
collection	USM Institutional Repository
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
qualification_level	Master's degree
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
granting_institution	Universiti Sains Malaysia
granting_department	Pusat Pengajian Kejuruteraan Elektrik & Elektronik
publishDate	2013
url	http://eprints.usm.my/46342/1/Yacine%20Benbelkacem24.pdf
_version_	1747821655377313792

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

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