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Feedforward control for human-in-the-loop camera systems
Stanciu, R.; Oh, P.Y.;
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Volume 1,
2004
Page(s):1
-
6 Vol.1
Abstract:
Cameras are often mounted on platforms that can move like rovers, booms, gantries and aircraft. People operate such platforms to capture desired views of a scene or a target. To avoid collisions with the environment and occlusions, such platforms often possess redundant degrees-of-freedom. As a result, manual manipulating of such platforms demands much skill. Visual-servoing some degrees-of-freedom may reduce operator burden and improve tracking performance. This concept, which we call human-in-the-loop visual-servoing, is demonstrated And applies a /spl alpha/ /spl rarr/ /spl beta/ /spl rarr/ /spl gamma/ filter and feedforward controller to a broadcast camera boom.
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