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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| Format: | Thesis |
| Language: | English |
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2013
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| Online Access: | http://eprints.usm.my/46342/ http://eprints.usm.my/46342/1/Yacine%20Benbelkacem24.pdf |
| _version_ | 1848880581423661056 |
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| author | Benbelkacem, Yacine |
| author_facet | Benbelkacem, Yacine |
| author_sort | Benbelkacem, Yacine |
| building | USM Institutional Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-15T18:05:24Z |
| format | Thesis |
| id | usm-46342 |
| institution | Universiti Sains Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T18:05:24Z |
| publishDate | 2013 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | usm-463422020-02-26T03:53:13Z 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. |
| spellingShingle | TK1-9971 Electrical engineering. Electronics. Nuclear engineering Benbelkacem, Yacine Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm |
| title | 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_short | Near-Minimum Time Visual Servo Control Of An Underactuated Robotic Arm |
| title_sort | near-minimum time visual servo control of an underactuated robotic arm |
| topic | TK1-9971 Electrical engineering. Electronics. Nuclear engineering |
| url | http://eprints.usm.my/46342/ http://eprints.usm.my/46342/1/Yacine%20Benbelkacem24.pdf |